Investigating and Improving Common Loop Closure Failures in Visual SLAM Saran Khaliq National University of Sciences and Technology Muhammad Latif Anjum (  latif.anjum@seecs.edu.pk ) National University of Sciences and Technology Wajahat Hussain National University of Sciences and Technology Muhammad Uzair Khattak Mohamed bin Zayed University of Artiｦcial Intelligence Momen Rasool National University of Sciences and Technology Research Article Keywords: Posted Date: July 15th, 2022 DOI: https://doi.org/10.21203/rs.3.rs-1822521/v1 License:   This work is licensed under a Creative Commons Attribution 4.0 International License. Read Full License