A Trajectory-Based Approach to Multi-Session Underwater Visual SLAM Using Global Image Signatures

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dc.contributor.author Antoni Burguera Burguera
dc.contributor.author Francisco Bonin-Font
dc.date.accessioned 2025-07-03T10:04:39Z
dc.date.available 2025-07-03T10:04:39Z
dc.identifier.citation Burguera Burguera, A. i Bonin-Font, F. (2019). A Trajectory-Based Approach to Multi-Session Underwater Visual SLAM Using Global Image Signatures. Journal Of Marine Science And Engineering, 7(8), 278-314. https://doi.org/10.3390/jmse7080278 ca
dc.identifier.uri http://hdl.handle.net/11201/170614
dc.description.abstract [eng] This paper presents a multi-session monocular Simultaneous Localization and Mapping (SLAM) approach focused on underwater environments. The system is composed of three main blocks: a visual odometer, a loop detector, and an optimizer. Single session loop closings are found by means of feature matching and Random Sample Consensus (RANSAC) within a search region. Multi-session loop closings are found by comparing hash-based global image signatures. The optimizer refines the trajectories and joins the different maps. Map joining preserves the trajectory structure by adding a single link between the joined sessions, making it possible to aggregate or disaggregate sessions whenever is necessary. All the optimization processes can be delayed until a certain number of loops has been found in order to reduce the computational cost. Experiments conducted in real subsea scenarios show the quality and robustness of this proposal. en
dc.format application/pdf
dc.format.extent 278-314
dc.publisher MDPI
dc.relation.ispartof Journal Of Marine Science And Engineering, 2019, vol. 7, num.8, p. 278-314
dc.rights Attribution 4.0 International
dc.rights.uri http://creativecommons.org/licenses/by/4.0/
dc.subject.classification 004 - Informàtica ca
dc.subject.classification 62 - Enginyeria. Tecnologia ca
dc.subject.other 004 - Computer Science and Technology. Computing. Data processing en
dc.subject.other 62 - Engineering. Technology in general en
dc.title A Trajectory-Based Approach to Multi-Session Underwater Visual SLAM Using Global Image Signatures en
dc.type info:eu-repo/semantics/article
dc.type info:eu-repo/semantics/publishedVersion
dc.type Article
dc.date.updated 2025-07-03T10:04:40Z
dc.subject.keywords autonomous mobile robot en
dc.subject.keywords visual SLAM en
dc.rights.accessRights info:eu-repo/semantics/openAccess
dc.identifier.doi https://doi.org/10.3390/jmse7080278


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