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Structure from Motion (SfM) techniques are being increasingly used to create 3D maps from images in many domains including environmental monitoring. However, SfM techniques are often confounded in visually repetitive environments as they rely primarily on globally distinct image features. Simultaneous Localization and Mapping (SLAM) techniques offer a potential solution in visually repetitive environments since they use local feature matching, but SLAM approaches work best with wide-anglearXiv:2201.03364v1 fatcat:jtcljvoqlbffhkvm65tydu7qsq