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I am also doing some similar stuff. I have made some progress but its not working completely. For now there is no open source package that can detect loop closure for you. I am however working on one module that works with g2o but it will take some time for me to wrap it up. You can follow this. It describes in detail an efficient loop closing algorithm that generates robust and consistent loop closures and filters out the false ones. Simplest methods would be to check for pairwise consistency as mentioned in thesis. Moreover you can also use this to filter out false loop closures once you have them.