{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,3,19]],"date-time":"2026-03-19T14:37:18Z","timestamp":1773931038924,"version":"3.50.1"},"reference-count":24,"publisher":"MDPI AG","issue":"13","license":[{"start":{"date-parts":[[2022,6,21]],"date-time":"2022-06-21T00:00:00Z","timestamp":1655769600000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"funder":[{"name":"National Key R&amp;D Program","award":["2017YFC0306000"],"award-info":[{"award-number":["2017YFC0306000"]}]},{"name":"National Key R&amp;D Program","award":["U1809212"],"award-info":[{"award-number":["U1809212"]}]},{"name":"National Key R&amp;D Program","award":["ZD2020D001"],"award-info":[{"award-number":["ZD2020D001"]}]},{"name":"National Key R&amp;D Program","award":["U1906218"],"award-info":[{"award-number":["U1906218"]}]},{"name":"Zhejiang Provincial Joint Fund","award":["2017YFC0306000"],"award-info":[{"award-number":["2017YFC0306000"]}]},{"name":"Zhejiang Provincial Joint Fund","award":["U1809212"],"award-info":[{"award-number":["U1809212"]}]},{"name":"Zhejiang Provincial Joint Fund","award":["ZD2020D001"],"award-info":[{"award-number":["ZD2020D001"]}]},{"name":"Zhejiang Provincial Joint Fund","award":["U1906218"],"award-info":[{"award-number":["U1906218"]}]},{"name":"Heilongjiang Provincial Natural Science Foundation","award":["2017YFC0306000"],"award-info":[{"award-number":["2017YFC0306000"]}]},{"name":"Heilongjiang Provincial Natural Science Foundation","award":["U1809212"],"award-info":[{"award-number":["U1809212"]}]},{"name":"Heilongjiang Provincial Natural Science Foundation","award":["ZD2020D001"],"award-info":[{"award-number":["ZD2020D001"]}]},{"name":"Heilongjiang Provincial Natural Science Foundation","award":["U1906218"],"award-info":[{"award-number":["U1906218"]}]},{"name":"Shandong Provincial Joint Fund","award":["2017YFC0306000"],"award-info":[{"award-number":["2017YFC0306000"]}]},{"name":"Shandong Provincial Joint Fund","award":["U1809212"],"award-info":[{"award-number":["U1809212"]}]},{"name":"Shandong Provincial Joint Fund","award":["ZD2020D001"],"award-info":[{"award-number":["ZD2020D001"]}]},{"name":"Shandong Provincial Joint Fund","award":["U1906218"],"award-info":[{"award-number":["U1906218"]}]}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Sensors"],"abstract":"<jats:p>With the development of artificial intelligence technology, visual simultaneous localization and mapping (SLAM) has become a cheap and efficient localization method for underwater robots. However, there are many problems in underwater visual SLAM, such as more serious underwater imaging distortion, more underwater noise, and unclear details. In this paper, we study these two problems and chooses the ORB-SLAM2 algorithm as the method to obtain the motion trajectory of the underwater robot. The causes of radial distortion and tangential distortion of underwater cameras are analyzed, a distortion correction model is constructed, and five distortion correction coefficients are obtained through pool experiments. Comparing the performances of contrast-limited adaptive histogram equalization (CLAHE), median filtering (MF), and dark channel prior (DCP) image enhancement methods in underwater SLAM, it is found that the DCP method has the best image effect evaluation, the largest number of oriented fast and rotated brief (ORB) feature matching, and the highest localization trajectory accuracy. The results show that the ORB-SLAM2 algorithm can effectively locate the underwater robot, and the correct distortion correction coefficient and DCP improve the stability and accuracy of the ORB-SLAM2 algorithm.<\/jats:p>","DOI":"10.3390\/s22134657","type":"journal-article","created":{"date-parts":[[2022,6,22]],"date-time":"2022-06-22T04:12:01Z","timestamp":1655871121000},"page":"4657","update-policy":"https:\/\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":13,"title":["Marine Application Evaluation of Monocular SLAM for Underwater Robots"],"prefix":"10.3390","volume":"22","author":[{"ORCID":"https:\/\/orcid.org\/0000-0002-6169-4910","authenticated-orcid":false,"given":"Yang","family":"Zhang","sequence":"first","affiliation":[{"name":"Acoustic Science and Technology Laboratory, Harbin Engineering University, Harbin 150001, China"},{"name":"Key Laboratory of Marine Information Acquisition and Security, Harbin Engineering University, Ministry of Industry and Information Technology, Harbin 150001, China"},{"name":"College of Underwater Acoustic Engineering, Harbin Engineering University, Harbin 150001, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Li","family":"Zhou","sequence":"additional","affiliation":[{"name":"School of Marine Technology and Geomatics, Jiangsu Ocean University, Lianyungang 222005, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Haisen","family":"Li","sequence":"additional","affiliation":[{"name":"Acoustic Science and Technology Laboratory, Harbin Engineering University, Harbin 150001, China"},{"name":"Key Laboratory of Marine Information Acquisition and Security, Harbin Engineering University, Ministry of Industry and Information Technology, Harbin 150001, China"},{"name":"College of Underwater Acoustic Engineering, Harbin Engineering University, Harbin 150001, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-0050-3391","authenticated-orcid":false,"given":"Jianjun","family":"Zhu","sequence":"additional","affiliation":[{"name":"Acoustic Science and Technology Laboratory, Harbin Engineering University, Harbin 150001, China"},{"name":"Key Laboratory of Marine Information Acquisition and Security, Harbin Engineering University, Ministry of Industry and Information Technology, Harbin 150001, China"},{"name":"College of Underwater Acoustic Engineering, Harbin Engineering University, Harbin 150001, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-6231-4484","authenticated-orcid":false,"given":"Weidong","family":"Du","sequence":"additional","affiliation":[{"name":"Acoustic Science and Technology Laboratory, Harbin Engineering University, Harbin 150001, China"},{"name":"Key Laboratory of Marine Information Acquisition and Security, Harbin Engineering University, Ministry of Industry and Information Technology, Harbin 150001, China"},{"name":"College of Underwater Acoustic Engineering, Harbin Engineering University, Harbin 150001, China"}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"1968","published-online":{"date-parts":[[2022,6,21]]},"reference":[{"key":"ref_1","doi-asserted-by":"crossref","unstructured":"Hidalgo, F., and Br\u00e4unl, T. (2015, January 17\u201319). Review of underwater SLAM techniques. Proceedings of the 2015 6th International Conference on Automation, Robotics and Applications (ICARA), Queenstown, New Zealand.","DOI":"10.1109\/ICARA.2015.7081165"},{"key":"ref_2","doi-asserted-by":"crossref","first-page":"109355","DOI":"10.1016\/j.oceaneng.2021.109355","article-title":"Path planning and obstacle avoidance for AUV: A review","volume":"235","author":"Cheng","year":"2021","journal-title":"Ocean Eng."},{"key":"ref_3","doi-asserted-by":"crossref","unstructured":"Moosmann, F., and Stiller, C. (2011, January 5\u20139). Velodyne slam. Proceedings of the 2011 IEEE Intelligent Vehicles Symposium (IV), Baden-Baden, Germany.","DOI":"10.1109\/IVS.2011.5940396"},{"key":"ref_4","doi-asserted-by":"crossref","first-page":"500","DOI":"10.1109\/JOE.2012.2235664","article-title":"Relocating underwater features autonomously using sonar-based SLAM","volume":"38","author":"Fallon","year":"2013","journal-title":"IEEE J. Ocean. Eng."},{"key":"ref_5","doi-asserted-by":"crossref","first-page":"48","DOI":"10.1016\/j.oceaneng.2008.10.001","article-title":"Experiments on vision guided docking of an autonomous underwater vehicle using one camera","volume":"36","author":"Park","year":"2009","journal-title":"Ocean Eng."},{"key":"ref_6","doi-asserted-by":"crossref","first-page":"1147","DOI":"10.1109\/TRO.2015.2463671","article-title":"ORB-SLAM: A versatile and accurate monocular SLAM system","volume":"31","author":"Tardos","year":"2015","journal-title":"IEEE Trans. Robot."},{"key":"ref_7","doi-asserted-by":"crossref","unstructured":"Engel, J., Sch\u00f6ps, T., and Cremers, D. (2014). LSD-SLAM: Large-Scale Direct Monocular SLAM. European Conference on Computer Vision, Springer.","DOI":"10.1007\/978-3-319-10605-2_54"},{"key":"ref_8","doi-asserted-by":"crossref","first-page":"1756","DOI":"10.1109\/TIP.2011.2179666","article-title":"Underwater image enhancement by wavelength compensation and dehazing","volume":"21","author":"Chiang","year":"2011","journal-title":"IEEE Trans. Image Processing"},{"key":"ref_9","doi-asserted-by":"crossref","first-page":"41","DOI":"10.1016\/j.compeleceng.2013.10.016","article-title":"Underwater image dehazing using joint trilateral filter","volume":"40","author":"Serikawa","year":"2014","journal-title":"Comput. Electr. Eng."},{"key":"ref_10","doi-asserted-by":"crossref","first-page":"746052","DOI":"10.1155\/2010\/746052","article-title":"Underwater image processing: State of the art of restoration and image enhancement methods","volume":"2010","author":"Schettini","year":"2010","journal-title":"EURASIP J. Adv. Signal Process."},{"key":"ref_11","doi-asserted-by":"crossref","unstructured":"Hidalgo, F., Kahlefendt, C., and Br\u00e4unl, T. (2018, January 28\u201331). Monocular ORB-SLAM application in underwater scenarios. Proceedings of the 2018 OCEANS-MTS\/IEEE Kobe Techno-Oceans (OTO), Kobe, Japan.","DOI":"10.1109\/OCEANSKOBE.2018.8559435"},{"key":"ref_12","doi-asserted-by":"crossref","unstructured":"Roznere, M., and Li, A.Q. (2019, January 4\u20138). Real-time model-based image color correction for underwater robots. Proceedings of the 2019 IEEE\/RSJ International Conference on Intelligent Robots and Systems (IROS), Macau, China.","DOI":"10.1109\/IROS40897.2019.8967557"},{"key":"ref_13","doi-asserted-by":"crossref","unstructured":"Roznere, M., and Li, A.Q. (2020, January 25\u201329). Underwater Monocular Image Depth Estimation using Single-beam Echosounder. Proceedings of the 2020 IEEE\/RSJ International Conference on Intelligent Robots and Systems (IROS), Las Vegas, NV, USA.","DOI":"10.1109\/IROS45743.2020.9340919"},{"key":"ref_14","doi-asserted-by":"crossref","first-page":"1052","DOI":"10.1109\/TPAMI.2007.1049","article-title":"MonoSLAM: Real-time single camera SLAM","volume":"29","author":"Davison","year":"2007","journal-title":"IEEE Trans. Pattern Anal. Mach. Intell."},{"key":"ref_15","doi-asserted-by":"crossref","unstructured":"Forster, C., Pizzoli, M., and Scaramuzza, D. (June, January 31). SVO: Fast semi-direct monocular visual odometry. Proceedings of the 2014 IEEE International Conference on Robotics and Automation (ICRA), Hong Kong, China.","DOI":"10.1109\/ICRA.2014.6906584"},{"key":"ref_16","doi-asserted-by":"crossref","first-page":"1255","DOI":"10.1109\/TRO.2017.2705103","article-title":"Orb-slam2: An open-source slam system for monocular, stereo, and rgb-d cameras","volume":"33","year":"2017","journal-title":"IEEE Trans. Robot."},{"key":"ref_17","doi-asserted-by":"crossref","first-page":"1874","DOI":"10.1109\/TRO.2021.3075644","article-title":"Orb-slam3: An accurate open-source library for visual, visual\u2013inertial, and multimap slam","volume":"37","author":"Campos","year":"2021","journal-title":"IEEE Trans. Robot."},{"key":"ref_18","doi-asserted-by":"crossref","unstructured":"Muja, M., and Lowe, D.G. (2012, January 28\u201330). Fast matching of binary features. Proceedings of the 2012 Ninth Conference on Computer and Robot Vision, Toronto, ON, Canada.","DOI":"10.1109\/CRV.2012.60"},{"key":"ref_19","doi-asserted-by":"crossref","first-page":"57","DOI":"10.1016\/j.ultras.2004.02.022","article-title":"Improving motion estimation by accounting for local image distortion","volume":"43","author":"Behar","year":"2004","journal-title":"Ultrasonics"},{"key":"ref_20","first-page":"666","article-title":"Flexible camera calibration by viewing a plane from unknown orientations. Proceedings of the seventh ieee international conference on computer vision","volume":"1","author":"Zhang","year":"1999","journal-title":"IEEE"},{"key":"ref_21","first-page":"956","article-title":"An automatic approach for radial lens distortion correction from a single image","volume":"11","year":"2010","journal-title":"IEEE Sens. J."},{"key":"ref_22","first-page":"2341","article-title":"Single image haze removal using dark channel prior","volume":"33","author":"He","year":"2010","journal-title":"IEEE Trans. Pattern Anal. Mach. Intell."},{"key":"ref_23","first-page":"1","article-title":"On detection of median filtering in digital images","volume":"Volume 7541","author":"Kirchner","year":"2010","journal-title":"Media Forensics and Security II"},{"key":"ref_24","doi-asserted-by":"crossref","first-page":"35","DOI":"10.1023\/B:VLSI.0000028532.53893.82","article-title":"Realization of the contrast limited adaptive histogram equalization (CLAHE) for real-time image enhancement","volume":"38","author":"Reza","year":"2004","journal-title":"J. VLSI Signal Processing Syst. Signal Image Video Technol."}],"container-title":["Sensors"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/www.mdpi.com\/1424-8220\/22\/13\/4657\/pdf","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2025,10,10]],"date-time":"2025-10-10T23:36:13Z","timestamp":1760139373000},"score":1,"resource":{"primary":{"URL":"https:\/\/www.mdpi.com\/1424-8220\/22\/13\/4657"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2022,6,21]]},"references-count":24,"journal-issue":{"issue":"13","published-online":{"date-parts":[[2022,7]]}},"alternative-id":["s22134657"],"URL":"https:\/\/doi.org\/10.3390\/s22134657","relation":{},"ISSN":["1424-8220"],"issn-type":[{"value":"1424-8220","type":"electronic"}],"subject":[],"published":{"date-parts":[[2022,6,21]]}}}