In robotic applications of visual simultaneous localization and mapping (SLAM) techniques. loop-closure detection detects whether or not a current location has previously been visited. We present an online and incremental approach to detect loops when images come from an already visited scene and learn new information from the environment. Instead of utilizing a bag-of-words model. https://thegreensjunglebeautyshops.shop/product-category/nail-dry-oil/