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Dr Paul Newman and Mark Cummins released an open source version of Fast Appearance Based Mapping (FABMAP) toolset that`s a topological SLAM algorithm

You should have a look at this reference too:

R. Kuemmerle, B. Steder, C. Dornhege, A. Kleiner, G. Grisetti, and W. Burgard. Large Scale Graph-based SLAM using Aerial Images as Prior Information

I hope I`ve helped you

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