I want to learn the stereo_mapping method of the Rtabmap_ros in the http://wiki.ros.org/rtabmap website . But I just learned that it is a RGB-D Graph SLAM approach based on a global Bayesian loop closure detector. I want to know what's the specical mechod of slam ,such as KF-SLAM 、PF-SLAM or Graph optimization？And are there any papers about that slam method?
Thank you very much for your help!!!
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