Can't understand loop closure

Can someone explain what is a loop closure?

Hello @haadiakhter ,

In this context, RTABMap uses images to determine the robot’s location. To do this, it compares a set of images with the images captured real-time by the robot. If 2 images are compared and have enough matching points, the algorithm considers that the robot is in a known position (because the current image captured by the robot matches one of the images in the set). When this match happens, this is considered a loop closure (the algorithm is able to determine the robot’s current location).