The present thesis provides a solution to the loop closure problem in a Truncated Signed Distance Field (TSDF) based Simultaneous Localization and Mapping (SLAM) approach. Described is the design and algorithm for a loop closure detection and subsequent multi-step validation via validators developed as part of the thesis, which sorted out erroneous loop closures to provide more robust optimization of the pose graph. In addition, several strategies developed in the work are outlined for updating the volumetric TSDF map representation. These are a global update of the map and two partial map updates based upon it, which provide significant runtime optimization over the global update.