This year’s campaign has been one of the most divisive in recent US political history, with some polls showing Obama and Romney stuck in a dead heat, although both teams claim to be on course to win.

Romney will continue to campaign on election day itself, voting near his home in Belmont, Massachusetts, in the morning, before heading for Cleveland, Ohio, and Pittsburgh, Pennsylvania, reports The Guardian.

Obama is planning a game of basketball with friends and staff in his hometown of Chicago, but will also be taking part in dozen television and radio interviews throughout the day.

Real Clear Politics, which aggregates all the major polls, puts Obama on 48.5% and Romney on 48.1%. In all of the swing states – where the election will be decided – Obama has a slight edge, although in some the lead is so minuscule it is, in effect, a tie. In the most important swing state, Ohio, Real Clear Politics has Obama on 49.7% to Romney’s 46.7%.

Neither campaign is taking any chances, with both teams putting lawyers in place in the swing states in case of controversial results, such as the “hanging chads” debacle in 2000. Legal challenges have already been launched in Florida and Ohio amid allegations of opportunities for early voting being curtailed and rows over IDs.

Obama, told a crowd of 20,000 in Madison, Wisconsin: “You have a choice to make. It is a choice between two different visions for America,”