Image hashing for loop closing in underwater visual SLAM

Bonin-Font, Francisco; Burguera Burguera, Antonio; Oliver Codina, Gabriel

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dc.contributor.author	Bonin-Font, Francisco
dc.contributor.author	Burguera Burguera, Antonio
dc.contributor.author	Oliver Codina, Gabriel
dc.date.accessioned	2025-09-03T07:05:24Z
dc.date.available	2025-09-03T07:05:24Z
dc.date.issued	2025-09-03
dc.identifier.citation	Bonin Font, F., Burguera Burguera, A. i Oliver Codina, G.A. Image hashing for loop closing in underwater visual SLAM. En 9th International Workshop on Marine Technology (MARTECH 2021). ""Instrumentation Viewpoint", 2021, 21, 8-9.	en
dc.identifier.uri	http://hdl.handle.net/11201/171219
dc.description.abstract	[eng] This article presents an experimental assessment of a hash-based loop closure detection methodology specially addressed to Multi-robot underwater visual Simultaneous Localization and Mapping (SLAM). This methodology uses two different top quality image global descriptors, one learned (NetVLAD) and one handcrafted (HALOC). Complete tests were done to compare the performance of both hashing techniques applied in an extensive set of real underwater imagery.	en
dc.format	application/pdf	en
dc.format.extent	8-9
dc.language.iso	eng
dc.publisher	SARTI
dc.relation.ispartof	9th International Workshop on Marine Technology (MARTECH 2021)". ""Instrumentation Viewpoint", núm. 21, p. 8-9.	en
dc.relation.ispartofseries	Instrumentation viewpoint - 2021; 21	en
dc.rights	Attribution-NonCommercial-NoDerivatives 4.0 International
dc.rights.uri	https://creativecommons.org/licenses/by-nc-nd/4.0/
dc.subject	004 - Informàtica	ca
dc.subject	62 - Enginyeria. Tecnologia	ca
dc.subject.other	Visual Loop Closing Detection	en
dc.subject.other	Underwater Robotics	en
dc.subject.other	SLAM	en
dc.subject.other	Convolution Neural Networks	en
dc.title	Image hashing for loop closing in underwater visual SLAM	en
dc.type	Book chapter
dc.type	info:eu-repo/semantics/bookpart
dc.type	info:eu-repo/semantics/conferenceObject
dc.type	conferenceObject
dc.rights.accessRights	info:eu-repo/semantics/openAccess