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To cope with the uncertainty and ambiguity that arise from matching grid maps, we introduce a modified RANSAC algorithm which searches for a dynamic number of internally consistent subsets of feature pairings from which to compute hypotheses about the translation and rotation between the maps. By providing a (possibly multi-modal) probability distribution of the relative pose of the maps, our method can be seamlessly integrated into large-scale mapping frameworks for mobile robots. This paper provides a benchmarking of different detectors and descriptors, along extensive experimental results that illustrate the robustness of the algorithm with a 97% success ratio in loop-closure detection for ~1700 matchings between local maps obtained from four publicly available datasets.<\/jats:p>","DOI":"10.1017\/s0263574712000732","type":"journal-article","created":{"date-parts":[[2013,1,11]],"date-time":"2013-01-11T10:15:56Z","timestamp":1357899356000},"page":"687-701","source":"Crossref","is-referenced-by-count":42,"title":["A robust, multi-hypothesis approach to matching occupancy grid maps"],"prefix":"10.1017","volume":"31","author":[{"given":"Jose-Luis","family":"Blanco","sequence":"first","affiliation":[]},{"given":"Javier","family":"Gonz\u00e1lez-Jim\u00e9nez","sequence":"additional","affiliation":[]},{"given":"Juan-Antonio","family":"Fern\u00e1ndez-Madrigal","sequence":"additional","affiliation":[]}],"member":"56","published-online":{"date-parts":[[2013,1,11]]},"reference":[{"key":"S0263574712000732_ref32","first-page":"414","article-title":"Local and global localization for mobile robots using visual landmarks","volume":"1","author":"Se","year":"2001","journal-title":"Proceedings of the IEEE\/RSJ International Conference on Intelligent Robots and Systems"},{"key":"S0263574712000732_ref15","doi-asserted-by":"publisher","DOI":"10.1016\/j.robot.2006.06.007"},{"key":"S0263574712000732_ref24","first-page":"130","article-title":"An iterative image registration technique with an application to stereo vision","volume":"121","author":"Lucas","year":"1981","journal-title":"Proc. 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