{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,5,14]],"date-time":"2026-05-14T07:53:51Z","timestamp":1778745231908,"version":"3.51.4"},"reference-count":43,"publisher":"Springer Science and Business Media LLC","issue":"6","license":[{"start":{"date-parts":[[2015,11,4]],"date-time":"2015-11-04T00:00:00Z","timestamp":1446595200000},"content-version":"tdm","delay-in-days":0,"URL":"http:\/\/www.springer.com\/tdm"}],"content-domain":{"domain":["link.springer.com"],"crossmark-restriction":false},"short-container-title":["Auton Robot"],"published-print":{"date-parts":[[2016,8]]},"DOI":"10.1007\/s10514-015-9512-6","type":"journal-article","created":{"date-parts":[[2015,11,4]],"date-time":"2015-11-04T07:48:06Z","timestamp":1446623286000},"page":"1095-1109","update-policy":"https:\/\/doi.org\/10.1007\/springer_crossmark_policy","source":"Crossref","is-referenced-by-count":28,"title":["A robust loop-closure method for visual SLAM in unstructured seafloor environments"],"prefix":"10.1007","volume":"40","author":[{"given":"Seonghun","family":"Hong","sequence":"first","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Jinwhan","family":"Kim","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Juhyun","family":"Pyo","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Son-Cheol","family":"Yu","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"297","published-online":{"date-parts":[[2015,11,4]]},"reference":[{"issue":"5","key":"9512_CR1","doi-asserted-by":"crossref","first-page":"1027","DOI":"10.1109\/TRO.2008.2004514","volume":"24","author":"A Angeli","year":"2008","unstructured":"Angeli, A., Filliat, D., Doncieux, S., & Meyer, J.-A. (2008). Fast and incremental method for loop-closure detection using bags of visual words. IEEE Transactions on Robotics, 24(5), 1027\u20131037.","journal-title":"IEEE Transactions on Robotics"},{"key":"9512_CR2","doi-asserted-by":"crossref","unstructured":"Ballard, R. D., Stager, L. E., Master, D., Yoerger, D., Mindell, D., Whitcomb, L. L., et al. (2002). Iron age shipwrecks in deep water off Ashkelon, Israel, American Journal of Archaeology, 106, 151\u2013168.","DOI":"10.2307\/4126241"},{"issue":"3","key":"9512_CR3","doi-asserted-by":"crossref","first-page":"346","DOI":"10.1016\/j.cviu.2007.09.014","volume":"110","author":"H Bay","year":"2008","unstructured":"Bay, H., Ess, A., Tuytelaars, T., & Van Gool, L. (2008). Speeded-up robust features (SURF). Computer Vision and Image Understanding, 110(3), 346\u2013359.","journal-title":"Computer Vision and Image Understanding"},{"key":"9512_CR4","doi-asserted-by":"crossref","unstructured":"Brown,M., & Lowe, D. G. (2005). Unsupervised 3d object recognition and reconstruction in unordered datasets. In 3-D digital imaging and modeling, 2005. 3DIM 2005. Fifth international conference on IEEE (pp. 56\u201363).","DOI":"10.1109\/3DIM.2005.81"},{"issue":"3","key":"9512_CR5","doi-asserted-by":"crossref","first-page":"462","DOI":"10.1109\/TIT.1968.1054142","volume":"14","author":"C Chow","year":"1968","unstructured":"Chow, C., & Liu, C. (1968). Approximating discrete probability distributions with dependence trees. IEEE Transactions on Information Theory, 14(3), 462\u2013467.","journal-title":"IEEE Transactions on Information Theory"},{"key":"9512_CR6","unstructured":"Csurka, G., Dance, C., Fan, L., Willamowski, J., & Bray, C. (2004). Visual categorization with bags of keypoints. In Workshop on statistical learning in computer vision, ECCV (Vol. 1, pp. 1\u20132)."},{"issue":"9","key":"9512_CR7","doi-asserted-by":"crossref","first-page":"1100","DOI":"10.1177\/0278364910385483","volume":"30","author":"M Cummins","year":"2011","unstructured":"Cummins, M., & Newman, P. (2011). Appearance-only slam at large scale with fab-map 2.0. The International Journal of Robotics Research, 30(9), 1100\u20131123.","journal-title":"The International Journal of Robotics Research"},{"issue":"10","key":"9512_CR8","doi-asserted-by":"crossref","first-page":"1207","DOI":"10.1016\/j.oceaneng.2011.05.013","volume":"38","author":"A Elibol","year":"2011","unstructured":"Elibol, A., Garcia, R., & Gracias, N. (2011). A new global alignment approach for underwater optical mapping. Ocean Engineering, 38(10), 1207\u20131219.","journal-title":"Ocean Engineering"},{"issue":"5","key":"9512_CR9","doi-asserted-by":"crossref","first-page":"656","DOI":"10.1002\/rob.20357","volume":"27","author":"A Elibol","year":"2010","unstructured":"Elibol, A., Gracias, N., & Garcia, R. (2010). Augmented state-extended kalman filter combined framework for topology estimation in large-area underwater mapping. Journal of Field Robotics, 27(5), 656\u2013674.","journal-title":"Journal of Field Robotics"},{"issue":"2","key":"9512_CR10","doi-asserted-by":"crossref","first-page":"103","DOI":"10.1109\/JOE.2008.923547","volume":"33","author":"RM Eustice","year":"2008","unstructured":"Eustice, R. M., Pizarro, O., & Singh, H. (2008). Visually augmented navigation for autonomous underwater vehicles. IEEE Journal of Oceanic Engineering, 33(2), 103\u2013122.","journal-title":"IEEE Journal of Oceanic Engineering"},{"issue":"6","key":"9512_CR11","doi-asserted-by":"crossref","first-page":"1100","DOI":"10.1109\/TRO.2006.886264","volume":"22","author":"RM Eustice","year":"2006","unstructured":"Eustice, R. M., Singh, H., & Leonard, J. J. (2006a). Exactly sparse delayed-state filters for view-based slam. IEEE Transactions on Robotics, 22(6), 1100\u20131114.","journal-title":"IEEE Transactions on Robotics"},{"issue":"12","key":"9512_CR12","doi-asserted-by":"crossref","first-page":"1223","DOI":"10.1177\/0278364906072512","volume":"25","author":"RM Eustice","year":"2006","unstructured":"Eustice, R. M., Singh, H., Leonard, J. J., & Walter, M. R. (2006b). Visually mapping the rms titanic: Conservative covariance estimates for slam information filters. International Journal of Robotics Research, 25(12), 1223\u20131242.","journal-title":"International Journal of Robotics Research"},{"issue":"03","key":"9512_CR13","doi-asserted-by":"crossref","first-page":"485","DOI":"10.1142\/S0218001488000285","volume":"2","author":"OD Faugeras","year":"1988","unstructured":"Faugeras, O. D., & Lustman, F. (1988). Motion and structure from motion in a piecewise planar environment. International Journal of Pattern Recognition and Artificial Intelligence, 2(03), 485\u2013508.","journal-title":"International Journal of Pattern Recognition and Artificial Intelligence"},{"key":"9512_CR14","doi-asserted-by":"crossref","unstructured":"Ferrer, J., Elibol, A., Delaunoy, O., Gracias, N., & Garcia, R. (2007). Large-area photo-mosaics using global alignment and navigation data. In\u00a0MTS\/IEEE OCEANS conference (pp. 1\u20139). Vancouver, Canada.","DOI":"10.1109\/OCEANS.2007.4449367"},{"key":"9512_CR15","doi-asserted-by":"crossref","unstructured":"Garc\u00eda, R., Puig, J., Ridao, P., & Cufi, X. (2002). Augmented state kalman filtering for auv navigation. In Robotics and automation, 2002. Proceedings of the ICRA\u201902 IEEE international conference (Vol. 4, pp. 4010\u20134015).","DOI":"10.1109\/ROBOT.2002.1014362"},{"issue":"5","key":"9512_CR16","doi-asserted-by":"crossref","first-page":"597","DOI":"10.1016\/j.imavis.2008.04.014","volume":"27","author":"N Gracias","year":"2009","unstructured":"Gracias, N., Mahoor, M., Negahdaripour, S., & Gleason, A. (2009). Fast image blending using watersheds and graph cuts. Image and Vision Computing, 27(5), 597\u2013607.","journal-title":"Image and Vision Computing"},{"issue":"1","key":"9512_CR17","doi-asserted-by":"crossref","first-page":"66","DOI":"10.1006\/cviu.2000.0848","volume":"79","author":"N Gracias","year":"2000","unstructured":"Gracias, N., & Santos-Victor, J. (2000). Underwater video mosaics as visual navigation maps. Computer Vision and Image Understanding, 79(1), 66\u201391.","journal-title":"Computer Vision and Image Understanding"},{"key":"9512_CR18","doi-asserted-by":"crossref","unstructured":"Grisetti, G., Lodi\u00a0Rizzini, D., Stachniss, C., Olson, E., & Burgard, W. (2008). Online constraint network optimization for efficient maximum likelihood map learning. In Robotics and automation, 2008. ICRA 2008. IEEE international conference (pp. 1880\u20131885).","DOI":"10.1109\/ROBOT.2008.4543481"},{"issue":"05","key":"9512_CR19","doi-asserted-by":"crossref","first-page":"561","DOI":"10.1142\/S0218001496000347","volume":"10","author":"RM Haralick","year":"1996","unstructured":"Haralick, R. M. (1996). Propagating covariance in computer vision. International Journal of Pattern Recognition and Artificial Intelligence, 10(05), 561\u2013572.","journal-title":"International Journal of Pattern Recognition and Artificial Intelligence"},{"key":"9512_CR20","doi-asserted-by":"crossref","unstructured":"Harris, C. & Stephens, M. (1988). A combined corner and edge detector. In Alvey vision conference, Manchester (Vol. 15, p. 50).","DOI":"10.5244\/C.2.23"},{"key":"9512_CR21","doi-asserted-by":"crossref","unstructured":"Hartley, R., & Zisserman, A. (2004). Multiple View Geometry in Computer Vision (2nd ed.). Cambridge: Cambridge University Press.","DOI":"10.1017\/CBO9780511811685"},{"key":"9512_CR22","doi-asserted-by":"crossref","unstructured":"Johannsson, H., Kaess, M., Englot, B., Hover, F., & Leonard, J. (2010). Imaging sonar-aided navigation for autonomous underwater harbor surveillance. In Intelligent Robots and Systems (IROS), 2010 IEEE\/RSJ International Conference (pp. 4396\u20134403).","DOI":"10.1109\/IROS.2010.5650831"},{"key":"9512_CR23","doi-asserted-by":"crossref","unstructured":"Kaess, M., Johannsson, H., Roberts, R., Ila, V., Leonard, J. J., & Dellaert, F. (2012). iSAM2: Incremental smoothing and mapping using the Bayes tree. International Journal of Robotics Research, 31, 216\u2013235.","DOI":"10.1177\/0278364911430419"},{"issue":"6","key":"9512_CR24","doi-asserted-by":"crossref","first-page":"1365","DOI":"10.1109\/TRO.2008.2006706","volume":"24","author":"M Kaess","year":"2008","unstructured":"Kaess, M., Ranganathan, A., & Dellaert, F. (2008). isam: Incremental smoothing and mapping. IEEE Transactions on Robotics, 24(6), 1365\u20131378.","journal-title":"IEEE Transactions on Robotics"},{"issue":"1","key":"9512_CR25","doi-asserted-by":"crossref","first-page":"33","DOI":"10.1177\/0278364910371855","volume":"30","author":"A Kawewong","year":"2011","unstructured":"Kawewong, A., Tongprasit, N., Tangruamsub, S., & Hasegawa, O. (2011). Online and incremental appearance-based slam in highly dynamic environments. The International Journal of Robotics Research, 30(1), 33\u201355.","journal-title":"The International Journal of Robotics Research"},{"key":"9512_CR26","unstructured":"Kim, A. (2012). Active visual SLAM with exploration for autonomous underwater navigation. PhD thesis, Department of Mechanical Engineering, University of Michigan, Ann Arbor, MI, USA."},{"issue":"3","key":"9512_CR27","doi-asserted-by":"crossref","first-page":"719","DOI":"10.1109\/TRO.2012.2235699","volume":"29","author":"A Kim","year":"2013","unstructured":"Kim, A., & Eustice, R. M. (2013). Real-time visual slam for autonomous underwater hull inspection using visual saliency. IEEE Transactions on Robotics, 29(3), 719\u2013733.","journal-title":"IEEE Transactions on Robotics"},{"key":"9512_CR28","doi-asserted-by":"crossref","unstructured":"Leutenegger, S., Chli, M., & Siegwart, R. Y. (2011). Brisk: Binary robust invariant scalable keypoints. In Computer Vision (ICCV), 2011 IEEE international conference (pp. 2548\u20132555).","DOI":"10.1109\/ICCV.2011.6126542"},{"issue":"1\u20133","key":"9512_CR29","doi-asserted-by":"crossref","first-page":"59","DOI":"10.1007\/s10661-006-9239-0","volume":"125","author":"D Lirman","year":"2007","unstructured":"Lirman, D., Gracias, N. R., Gintert, B. E., Gleason, A. C. R., Reid, R. P., Negahdaripour, S., et al. (2007). Development and application of a video-mosaic survey technology to document the status of coral reef communities. Environmental Monitoring and Assessment, 125(1\u20133), 59\u201373.","journal-title":"Environmental Monitoring and Assessment"},{"issue":"2","key":"9512_CR30","doi-asserted-by":"crossref","first-page":"91","DOI":"10.1023\/B:VISI.0000029664.99615.94","volume":"60","author":"DG Lowe","year":"2004","unstructured":"Lowe, D. G. (2004). Distinctive Image features from scale-invariant keypoints. International Journal of Computer Vision, 60(2), 91\u2013110.","journal-title":"International Journal of Computer Vision"},{"issue":"3","key":"9512_CR31","doi-asserted-by":"crossref","first-page":"181","DOI":"10.1007\/s10514-013-9345-0","volume":"36","author":"A Mallios","year":"2014","unstructured":"Mallios, A., Ridao, P., Ribas, D., & Hern\u00e1ndez, E. (2014). Scan matching slam in underwater environments. Autonomous Robots, 36(3), 181\u2013198.","journal-title":"Autonomous Robots"},{"key":"9512_CR32","doi-asserted-by":"crossref","unstructured":"Nicosevici, T. & Garcia, R. (2009). On-line visual vocabularies for robot navigation and mapping. In Intelligent Robots and Systems, 2009. IROS 2009. IEEE\/RSJ international conference (pp. 205\u2013212).","DOI":"10.1109\/IROS.2009.5354392"},{"key":"9512_CR33","doi-asserted-by":"crossref","unstructured":"Opelt, A., Fussenegger, M., Pinz, A., & Auer, P. (2004). Weak hypotheses and boosting for generic object detection and recognition. In Computer vision-ECCV 2004 (pp. 71\u201384). Springer.","DOI":"10.1007\/978-3-540-24671-8_6"},{"key":"9512_CR34","unstructured":"Pyo, J., Joe, H.-G., Kim, J.-H., Elibol, A., & Yu, S.-C. (2013). Development of hovering-type auv \u2019cyclops\u2019 for precision observation. In OCEANS-San Diego, 2013 MTS\/IEEE."},{"issue":"6","key":"9512_CR35","doi-asserted-by":"crossref","first-page":"759","DOI":"10.1002\/rob.20351","volume":"27","author":"P Ridao","year":"2010","unstructured":"Ridao, P., Carreras, M., Ribas, D., & Garcia, R. (2010). Visual inspection of hydroelectric dams using an autonomous underwater vehicle. Journal of Field Robotics, 27(6), 759\u2013778.","journal-title":"Journal of Field Robotics"},{"key":"9512_CR36","doi-asserted-by":"crossref","unstructured":"Sawhney, H.S., Hsu, S., & Kumar, R. (1998). Robust video mosaicing through topology inference and local to global alignment. In European coference on computer vision (pp. 103\u2013119). Springer.","DOI":"10.1007\/BFb0054736"},{"issue":"1","key":"9512_CR37","doi-asserted-by":"crossref","first-page":"25","DOI":"10.1023\/B:SSTA.0000018445.25977.f3","volume":"5","author":"H Singh","year":"2004","unstructured":"Singh, H., Armstrong, R., Gilbes, F., Eustice, R., Roman, C., Pizarro, O., et al. (2004). Imaging coral I: Imaging coral habitats with the seabed auv. Subsurface Sensing Technologies and Applications, 5(1), 25\u201342.","journal-title":"Subsurface Sensing Technologies and Applications"},{"key":"9512_CR38","doi-asserted-by":"crossref","unstructured":"Sivic, J., & Zisserman, A. (2003). Video google: A text retrieval approach to object matching in videos. In Computer Vision, 2003. Proceedings. Ninth IEEE international conference (pp. 1470\u20131477).","DOI":"10.1109\/ICCV.2003.1238663"},{"issue":"3","key":"9512_CR39","doi-asserted-by":"crossref","first-page":"835","DOI":"10.1145\/1141911.1141964","volume":"25","author":"N Snavely","year":"2006","unstructured":"Snavely, N., Seitz, S. M., & Szeliski, R. (2006). Photo tourism: exploring photo collections in 3d. ACM transactions on Graphics (TOG), 25(3), 835\u2013846.","journal-title":"ACM transactions on Graphics (TOG)"},{"key":"9512_CR40","unstructured":"Yoerger, D. R., Bradley, A. M., Walden, B., Cormier, M., & Ryan, W. (1999). High resolution mapping of a fast spreading mid ocean ridge with the autonomous benthic explorer. In International Symposium on Unmanned Untethered Submersible Technology (pp. 21\u201331). University of New Hampshire-Marine Systems."},{"issue":"2","key":"9512_CR41","doi-asserted-by":"crossref","first-page":"213","DOI":"10.1007\/s11263-006-9794-4","volume":"73","author":"J Zhang","year":"2007","unstructured":"Zhang, J., Marsza\u0142ek, M., Lazebnik, S., & Schmid, C. (2007). Local features and kernels for classification of texture and object categories: A comprehensive study. International Journal of Computer Vision, 73(2), 213\u2013238.","journal-title":"International Journal of Computer Vision"},{"key":"9512_CR42","unstructured":"Zhang, Z., & Hanson, A. R. (1996). 3d reconstruction based on homography mapping. In ARPA Image Understanding Workshop (pp. 249\u2013399). Citeseer."},{"key":"9512_CR43","doi-asserted-by":"crossref","unstructured":"Zuiderveld, K. (1994). Contrast limited adaptive histogram equalization. In Graphics gems IV (pp. 474\u2013485). Academic Press Professional, Inc.","DOI":"10.1016\/B978-0-12-336156-1.50061-6"}],"container-title":["Autonomous Robots"],"original-title":[],"language":"en","link":[{"URL":"http:\/\/link.springer.com\/content\/pdf\/10.1007\/s10514-015-9512-6.pdf","content-type":"application\/pdf","content-version":"vor","intended-application":"text-mining"},{"URL":"http:\/\/link.springer.com\/article\/10.1007\/s10514-015-9512-6\/fulltext.html","content-type":"text\/html","content-version":"vor","intended-application":"text-mining"},{"URL":"http:\/\/link.springer.com\/content\/pdf\/10.1007\/s10514-015-9512-6","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2019,5,29]],"date-time":"2019-05-29T19:16:06Z","timestamp":1559157366000},"score":1,"resource":{"primary":{"URL":"http:\/\/link.springer.com\/10.1007\/s10514-015-9512-6"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2015,11,4]]},"references-count":43,"journal-issue":{"issue":"6","published-print":{"date-parts":[[2016,8]]}},"alternative-id":["9512"],"URL":"https:\/\/doi.org\/10.1007\/s10514-015-9512-6","relation":{},"ISSN":["0929-5593","1573-7527"],"issn-type":[{"value":"0929-5593","type":"print"},{"value":"1573-7527","type":"electronic"}],"subject":[],"published":{"date-parts":[[2015,11,4]]}}}