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The most traditional method is to keep looking at the trajectory and see if your current location is close enough to the previously visited place. Once this happens run the ICP. If ICP converged normally, that is your loop closure. A bit more advanced method is doing a place recognition. Generate a keyframe every few meters and extract a feature descriptor ...


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Concatenation will work only if your positioning/localization is super precise which is seldom the case. What you want to be doing is scan registration. ICP and NDT are the two most widely used registration techniques which you can speed up by matching only the features you are extracting. In scan registration, your sensor gets a scan (from which you will ...


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