# loop closure detection in visual SLAM

A robotic system is moving a getting its current location using visual odometry (incremental estimation of rotation and translation). To correct its localization, a loop closure technique may be added. However, this technique based on image comparison is costly. I want to find a way to only use this technique of loop closure only when a potential loop closure is present. Is there a way to use the $x$ and $y$ coordinates of the vehicle provided by visual odometry to say that based on their values a loop closure may have occured?