[Zador-Pataki]

Motivation

Several anchors can reach the same loop-closure target within a track. GP adds a separate residual for each occurrence, giving the same observation more weight than intended.

Changes

• Use each loop target once per track for geometric constraints, depth constraints and temporal-prior weighting.
• Preserve all anchor links for playback.

Benchmark results: retention + deduplication

Numbers show published baseline → updated default. These are separate runs, not an isolated deduplication ablation.

ETH3D monocular · 55 scenes · Pose AUC

5 cm	10 cm	50 cm	1 m	10 m
78.48 → 80.32	85.74 → 87.85	94.39 → 95.86	96.61 → 97.35	99.52 → 99.28

EuRoC monocular · 11 scenes · Pose AUC

5 cm	10 cm	50 cm	1 m	10 m
28.86 → 28.44	60.02 → 59.74	91.96 → 91.91	95.98 → 95.95	99.60 → 99.60

CroCoDL · 64 scenes · W-AUC at 5%

10 m	25 m	50 m	100 m	Full
95.10 → 95.72	96.55 → 97.27	97.22 → 97.39	97.56 → 96.56	97.18 → 98.21

LaMAR 300 · 50 scenes · W-AUC at 5%

10 m	25 m	50 m	100 m	Full
92.26 → 92.43	92.66 → 93.08	91.16 → 91.79	90.77 → 91.03	90.23 → 90.41