Dual-Branch Feature Generalization Method for AUV Near-Field Exploration of Hydrothermal Areas
The simultaneous localization and mapping (SLAM) technique provides long-term near-seafloor navigation for autonomous underwater vehicles (AUVs). However, the stability of descriptors generated by interest point detectors remains a challenge in the hydrothermal environment. This paper proposes a dua...
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| Format: | Article |
| Language: | English |
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MDPI AG
2024-12-01
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| Series: | Journal of Marine Science and Engineering |
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| Online Access: | https://www.mdpi.com/2077-1312/12/12/2359 |
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| author | Yihui Liu Guofang Chen Yufei Xu Lei Wan Ziyang Zhang |
| author_facet | Yihui Liu Guofang Chen Yufei Xu Lei Wan Ziyang Zhang |
| author_sort | Yihui Liu |
| collection | DOAJ |
| description | The simultaneous localization and mapping (SLAM) technique provides long-term near-seafloor navigation for autonomous underwater vehicles (AUVs). However, the stability of descriptors generated by interest point detectors remains a challenge in the hydrothermal environment. This paper proposes a dual-branch feature generalization method, incorporating volumetric density and color distribution for enhanced robustness. The method utilizes shared descriptors and a feature confidence mechanism, combining neural radiance fields with Gaussian splatting models, ensuring fast and accurate feature generalization. The proposed approach improves recall while maintaining matching accuracy, ensuring stability and robustness in feature matching. This method achieves stable and reliable feature matching in a simulated hydrothermal environment. |
| format | Article |
| id | doaj-art-c9af4f6e48ff4de8adac5465fa4a3180 |
| institution | OA Journals |
| issn | 2077-1312 |
| language | English |
| publishDate | 2024-12-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Journal of Marine Science and Engineering |
| spelling | doaj-art-c9af4f6e48ff4de8adac5465fa4a31802025-08-20T02:00:34ZengMDPI AGJournal of Marine Science and Engineering2077-13122024-12-011212235910.3390/jmse12122359Dual-Branch Feature Generalization Method for AUV Near-Field Exploration of Hydrothermal AreasYihui Liu0Guofang Chen1Yufei Xu2Lei Wan3Ziyang Zhang4Science and Technology on Underwater Vehicle Laboratory, Harbin Engineering University, Harbin 150001, ChinaSchool of Marine Science and Technology, Northwestern Polytechnical University, Xi’an 710072, ChinaScience and Technology on Underwater Vehicle Laboratory, Harbin Engineering University, Harbin 150001, ChinaScience and Technology on Underwater Vehicle Laboratory, Harbin Engineering University, Harbin 150001, ChinaScience and Technology on Underwater Vehicle Laboratory, Harbin Engineering University, Harbin 150001, ChinaThe simultaneous localization and mapping (SLAM) technique provides long-term near-seafloor navigation for autonomous underwater vehicles (AUVs). However, the stability of descriptors generated by interest point detectors remains a challenge in the hydrothermal environment. This paper proposes a dual-branch feature generalization method, incorporating volumetric density and color distribution for enhanced robustness. The method utilizes shared descriptors and a feature confidence mechanism, combining neural radiance fields with Gaussian splatting models, ensuring fast and accurate feature generalization. The proposed approach improves recall while maintaining matching accuracy, ensuring stability and robustness in feature matching. This method achieves stable and reliable feature matching in a simulated hydrothermal environment.https://www.mdpi.com/2077-1312/12/12/2359underwater localizationfeature generalizationVSLAM |
| spellingShingle | Yihui Liu Guofang Chen Yufei Xu Lei Wan Ziyang Zhang Dual-Branch Feature Generalization Method for AUV Near-Field Exploration of Hydrothermal Areas Journal of Marine Science and Engineering underwater localization feature generalization VSLAM |
| title | Dual-Branch Feature Generalization Method for AUV Near-Field Exploration of Hydrothermal Areas |
| title_full | Dual-Branch Feature Generalization Method for AUV Near-Field Exploration of Hydrothermal Areas |
| title_fullStr | Dual-Branch Feature Generalization Method for AUV Near-Field Exploration of Hydrothermal Areas |
| title_full_unstemmed | Dual-Branch Feature Generalization Method for AUV Near-Field Exploration of Hydrothermal Areas |
| title_short | Dual-Branch Feature Generalization Method for AUV Near-Field Exploration of Hydrothermal Areas |
| title_sort | dual branch feature generalization method for auv near field exploration of hydrothermal areas |
| topic | underwater localization feature generalization VSLAM |
| url | https://www.mdpi.com/2077-1312/12/12/2359 |
| work_keys_str_mv | AT yihuiliu dualbranchfeaturegeneralizationmethodforauvnearfieldexplorationofhydrothermalareas AT guofangchen dualbranchfeaturegeneralizationmethodforauvnearfieldexplorationofhydrothermalareas AT yufeixu dualbranchfeaturegeneralizationmethodforauvnearfieldexplorationofhydrothermalareas AT leiwan dualbranchfeaturegeneralizationmethodforauvnearfieldexplorationofhydrothermalareas AT ziyangzhang dualbranchfeaturegeneralizationmethodforauvnearfieldexplorationofhydrothermalareas |