Long-Term Visual Localization in Dynamic Benthic Environments: A Dataset, Footprint-Based Ground Truth, and Visual Place Recognition Benchmark
Long-term visual localization has the potential to reduce cost and improve mapping quality in optical benthic monitoring with autonomous underwater vehicles (AUVs). Despite this potential, long-term visual localization in benthic environments remains understudied, primarily due to the lack of curated datasets for benchmarking. Moreover, limited georeferencing accuracy and image footprints necessitate precise geometric information for accurate ground-truthing. In this work, we address these gaps by presenting a curated dataset for long-term visual localization in benthic environments and a novel method to ground-truth visual localization results for near-nadir underwater imagery. Our datas...
| Authors | Martin Kvisvik Larsen, Oscar Pizarro |
|---|---|
| Primary category | cs.CV |
| Published | 4 March 2026 |
| Last updated at source | 4 March 2026 |
Silytics shows public metadata from arXiv and links to the original. Information may be incomplete or out of date. Last refreshed 17 October 2026. Licenses and terms of the original apply to the work itself. Not financial, legal or professional advice.