Added estimation loop closure hypothesis on small displacements, but only if the previous signature doesn't have a loop closure
Added estimation loop closure hypothesis on small displacements, but only if the previous signature doesn't have a loop closure

chen0510566/rtabmap,MASKOR/rtabmap,srmanikandasriram/rtabmap,markusgrotz/rtabmap,MASKOR/rtabmap,chen0510566/rtabmap,srmanikandasriram/rtabmap,markusgrotz/rtabmap,markusgrotz/rtabmap,chen0510566/rtabmap,MASKOR/rtabmap,srmanikandasriram/rtabmap