{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,7,15]],"date-time":"2026-07-15T22:06:06Z","timestamp":1784153166213,"version":"3.55.0"},"reference-count":38,"publisher":"Wiley","issue":"5","license":[{"start":{"date-parts":[[2026,3,1]],"date-time":"2026-03-01T00:00:00Z","timestamp":1772323200000},"content-version":"vor","delay-in-days":0,"URL":"http:\/\/onlinelibrary.wiley.com\/termsAndConditions#vor"},{"start":{"date-parts":[[2026,3,1]],"date-time":"2026-03-01T00:00:00Z","timestamp":1772323200000},"content-version":"tdm","delay-in-days":0,"URL":"http:\/\/doi.wiley.com\/10.1002\/tdm_license_1.1"}],"content-domain":{"domain":["onlinelibrary.wiley.com"],"crossmark-restriction":true},"short-container-title":["Journal of Field Robotics"],"published-print":{"date-parts":[[2026,8]]},"abstract":"<jats:title>ABSTRACT<\/jats:title>\n                  <jats:p>To address the poor performance of underwater visual localization caused by image degradation, this paper proposes an improved ORB\u2013SLAM2 underwater visual localization scheme based on image enhancement. First, an improved MSR\u2013CLAHE algorithm is presented, which integrates the global consistency of multiscale Retinex (MSR) with the local contrast enhancement capability of contrast\u2010limited adaptive histogram equalization (CLAHE). Exponential mapping and multiplicative fusion are introduced to balance multiscale enhancement, while guided filtering and HSV correction are employed to suppress halo artifacts and restore natural color balance. Experimental evaluations on the EUVP, SUIM, and Jiaolong deep\u2010sea data sets demonstrate that the proposed algorithm achieves the highest average UCIQE and UIQM scores, significantly improving image clarity, contrast, and color fidelity. Subsequently, an improved version of the ORB\u2013SLAM2 algorithm based on the proposed MSR\u2013CLAHE algorithm is proposed. Experimental results of deep\u2010sea visual localization show that the proposed method greatly increases the number of matched feature points and enhances both trajectory tracking accuracy and system robustness compared with the original approach. In summary, the improved ORB\u2013SLAM2 underwater visual localization scheme based on image enhancement proposed in this paper can effectively track the motion trajectory of underwater robots, meeting the requirements for accurate and robust underwater autonomous localization.<\/jats:p>","DOI":"10.1002\/rob.70194","type":"journal-article","created":{"date-parts":[[2026,3,8]],"date-time":"2026-03-08T20:42:24Z","timestamp":1773002544000},"page":"3312-3331","update-policy":"https:\/\/doi.org\/10.1002\/crossmark_policy","source":"Crossref","is-referenced-by-count":0,"title":["Research on ORB\u2013SLAM2 Deep\u2010Sea Visual Localization Technique Based on Image Enhancement"],"prefix":"10.1002","volume":"43","author":[{"given":"Jichao","family":"Yang","sequence":"first","affiliation":[{"name":"Polar Survey Technology and Equipment Research Center Shandong University of Science and Technology Qingdao China"},{"name":"Shandong Key Laboratory of Polar and Deep\u2010Sea Environmental Sensing and Intelligent Exploration (PKL2024A11) Qingdao China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Qing","family":"Zhao","sequence":"additional","affiliation":[{"name":"Polar Survey Technology and Equipment Research Center Shandong University of Science and Technology Qingdao China"},{"name":"Shandong Key Laboratory of Polar and Deep\u2010Sea Environmental Sensing and Intelligent Exploration (PKL2024A11) Qingdao China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0009-0006-8539-0168","authenticated-orcid":false,"given":"Yong","family":"Xu","sequence":"additional","affiliation":[{"name":"Technology Research Institute Lovol Heavy Industry Group Co. Ltd. Qingdao China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Zhongjun","family":"Ding","sequence":"additional","affiliation":[{"name":"National Deep Sea Center, Ministry of Natural Resources (MNR) Qingdao China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Tongbo","family":"Xu","sequence":"additional","affiliation":[{"name":"Polar Survey Technology and Equipment Research Center Shandong University of Science and Technology Qingdao China"},{"name":"Shandong Key Laboratory of Polar and Deep\u2010Sea Environmental Sensing and Intelligent Exploration (PKL2024A11) Qingdao China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Jinghao","family":"Zhu","sequence":"additional","affiliation":[{"name":"Polar Survey Technology and Equipment Research Center Shandong University of Science and Technology Qingdao China"},{"name":"Shandong Key Laboratory of Polar and Deep\u2010Sea Environmental Sensing and Intelligent Exploration (PKL2024A11) Qingdao China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Wenhui","family":"Dong","sequence":"additional","affiliation":[{"name":"College of Integrated Circuit Shandong University Jinan China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Dali","family":"Chen","sequence":"additional","affiliation":[{"name":"Polar Survey Technology and Equipment Research Center Shandong University of Science and Technology Qingdao China"},{"name":"Shandong Key Laboratory of Polar and Deep\u2010Sea Environmental Sensing and Intelligent Exploration (PKL2024A11) Qingdao China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Mengwei","family":"Zhao","sequence":"additional","affiliation":[{"name":"Laoshan Laboratory Qingdao China"}],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"311","published-online":{"date-parts":[[2026,3,1]]},"reference":[{"key":"e_1_2_7_2_1","doi-asserted-by":"publisher","DOI":"10.1109\/ICIP.2018.8451356"},{"key":"e_1_2_7_3_1","doi-asserted-by":"publisher","DOI":"10.1007\/11744023_32"},{"key":"e_1_2_7_4_1","doi-asserted-by":"publisher","DOI":"10.1109\/ACCESS.2018.2797872"},{"key":"e_1_2_7_5_1","doi-asserted-by":"publisher","DOI":"10.3390\/rs14133010"},{"key":"e_1_2_7_6_1","first-page":"2348","volume-title":"Proceedings of the 2023 35th Chinese Control and Decision Conference (CCDC)","author":"Chen J.","year":"2023"},{"key":"e_1_2_7_7_1","doi-asserted-by":"publisher","DOI":"10.1109\/mcg.2016.26"},{"key":"e_1_2_7_8_1","doi-asserted-by":"publisher","DOI":"10.1007\/s11465-021-0669-8"},{"key":"e_1_2_7_9_1","doi-asserted-by":"publisher","DOI":"10.1109\/CVPR52729.2023.01740"},{"key":"e_1_2_7_10_1","first-page":"9","article-title":"Review of Underwater Robot Inertial Navigation Technology","volume":"6","author":"Lai Y.","year":"2023","journal-title":"Control and Information Technology"},{"key":"e_1_2_7_11_1","doi-asserted-by":"publisher","DOI":"10.1109\/tip.2019.2955241"},{"key":"e_1_2_7_12_1","doi-asserted-by":"publisher","DOI":"10.1016\/j.engappai.2023.106457"},{"key":"e_1_2_7_13_1","doi-asserted-by":"publisher","DOI":"10.1109\/TCSVT.2024.3416291"},{"key":"e_1_2_7_14_1","doi-asserted-by":"publisher","DOI":"10.1002\/rob.22525"},{"key":"e_1_2_7_15_1","doi-asserted-by":"publisher","DOI":"10.1007\/s13204-021-02131-9"},{"key":"e_1_2_7_16_1","doi-asserted-by":"publisher","DOI":"10.1023\/b:visi.0000029664.99615.94"},{"issue":"6","key":"e_1_2_7_17_1","first-page":"1231","article-title":"A Novel Adaptive Histogram Equalization Based on Histogram Matching","volume":"7","author":"Min B.","year":"2006","journal-title":"Journal of Korea Academia\u2014Industrial Cooperation Society"},{"key":"e_1_2_7_18_1","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2015.2463671"},{"key":"e_1_2_7_19_1","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2017.2705103"},{"key":"e_1_2_7_20_1","doi-asserted-by":"publisher","DOI":"10.1109\/iccv.2011.6126544"},{"key":"e_1_2_7_21_1","article-title":"Visual and Visual\u2010Inertial SLAM: State of the Art, Classification, and Experimental Benchmarking","volume":"26","author":"Servieres M. C.","year":"2021","journal-title":"Journal of Sensors"},{"key":"e_1_2_7_22_1","doi-asserted-by":"publisher","DOI":"10.1109\/TGRS.2024.3358828"},{"key":"e_1_2_7_23_1","doi-asserted-by":"publisher","DOI":"10.1109\/TCYB.2024.3365693"},{"key":"e_1_2_7_24_1","doi-asserted-by":"publisher","DOI":"10.1109\/tmm.2018.2871955"},{"key":"e_1_2_7_25_1","doi-asserted-by":"publisher","DOI":"10.1364\/ao.54.005392"},{"key":"e_1_2_7_26_1","doi-asserted-by":"publisher","DOI":"10.1016\/j.cviu.2023.103681"},{"key":"e_1_2_7_27_1","doi-asserted-by":"publisher","DOI":"10.32604\/cmes.2025.063595"},{"key":"e_1_2_7_28_1","doi-asserted-by":"publisher","DOI":"10.3390\/app13127027"},{"key":"e_1_2_7_29_1","doi-asserted-by":"publisher","DOI":"10.3390\/rs11020149"},{"key":"e_1_2_7_30_1","doi-asserted-by":"publisher","DOI":"10.1109\/tip.2015.2491020"},{"key":"e_1_2_7_31_1","doi-asserted-by":"publisher","DOI":"10.1007\/s10846-022-01645-w"},{"key":"e_1_2_7_32_1","doi-asserted-by":"publisher","DOI":"10.1109\/ACCESS.2019.2920403"},{"issue":"4","key":"e_1_2_7_33_1","first-page":"29","article-title":"Research on Image Enhancement for Underwater Visual SLAM","volume":"35","author":"Zhang Y.","year":"2020","journal-title":"Ocean Information"},{"key":"e_1_2_7_34_1","doi-asserted-by":"publisher","DOI":"10.3390\/s22134657"},{"issue":"3","key":"e_1_2_7_35_1","first-page":"58","article-title":"Application and Analysis of Visual SLAM Algorithm in Underwater Environments","volume":"34","author":"Zhao H.","year":"2021","journal-title":"Industrial Control Computer"},{"key":"e_1_2_7_36_1","doi-asserted-by":"publisher","DOI":"10.1117\/12.2505716"},{"key":"e_1_2_7_37_1","doi-asserted-by":"publisher","DOI":"10.1360\/SSI-2023-0160"},{"issue":"5","key":"e_1_2_7_38_1","first-page":"9","article-title":"Key Technological Research on the Application of ROV Underwater Robots in Fisheries","volume":"36","author":"Zhou C.","year":"2023","journal-title":"Journal of Mechatronic Products Development and Innovation"},{"key":"e_1_2_7_39_1","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2020.2991614"}],"container-title":["Journal of Field Robotics"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/onlinelibrary.wiley.com\/doi\/pdf\/10.1002\/rob.70194","content-type":"application\/pdf","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/onlinelibrary.wiley.com\/doi\/full-xml\/10.1002\/rob.70194","content-type":"application\/xml","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/onlinelibrary.wiley.com\/doi\/pdf\/10.1002\/rob.70194","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2026,7,15]],"date-time":"2026-07-15T21:43:54Z","timestamp":1784151834000},"score":1,"resource":{"primary":{"URL":"https:\/\/onlinelibrary.wiley.com\/doi\/10.1002\/rob.70194"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2026,3,1]]},"references-count":38,"journal-issue":{"issue":"5","published-print":{"date-parts":[[2026,8]]}},"alternative-id":["10.1002\/rob.70194"],"URL":"https:\/\/doi.org\/10.1002\/rob.70194","archive":["Portico"],"relation":{},"ISSN":["1556-4959","1556-4967"],"issn-type":[{"value":"1556-4959","type":"print"},{"value":"1556-4967","type":"electronic"}],"subject":[],"published":{"date-parts":[[2026,3,1]]},"assertion":[{"value":"2024-07-31","order":0,"name":"received","label":"Received","group":{"name":"publication_history","label":"Publication History"}},{"value":"2026-02-14","order":2,"name":"accepted","label":"Accepted","group":{"name":"publication_history","label":"Publication History"}},{"value":"2026-03-01","order":3,"name":"published","label":"Published","group":{"name":"publication_history","label":"Publication History"}}]}}