{"about":{"site":"https://codewithpapers.app","non_affiliation":"Code with Papers and Syntology are not affiliated with, endorsed by, or sponsored by Papers with Code, Meta, or the pwc-archive mirror.","licence":"CC BY-SA 4.0","licence_url":"https://creativecommons.org/licenses/by-sa/4.0/legalcode","attribution":"https://codewithpapers.app/attribution","modified":"archive material modified by Syntology; see the attribution page"},"url":"/paper/knowledge-distillation-for-feature-extraction","title":"Knowledge Distillation for Feature Extraction in Underwater VSLAM","arxiv_id":"2303.17981","date":"2023-03-31","proceeding":null,"authors":["Jinghe Yang","Mingming Gong","Girish Nair","Jung Hoon Lee","Jason Monty","Ye Pu"],"abstract":"In recent years, learning-based feature detection and matching have outperformed manually-designed methods in in-air cases. However, it is challenging to learn the features in the underwater scenario due to the absence of annotated underwater datasets. This paper proposes a cross-modal knowledge distillation framework for training an underwater feature detection and matching network (UFEN). In particular, we use in-air RGBD data to generate synthetic underwater images based on a physical underwater imaging formation model and employ these as the medium to distil knowledge from a teacher model SuperPoint pretrained on in-air images. We embed UFEN into the ORB-SLAM3 framework to replace the ORB feature by introducing an additional binarization layer. To test the effectiveness of our method, we built a new underwater dataset with groundtruth measurements named EASI (https://github.com/Jinghe-mel/UFEN-SLAM), recorded in an indoor water tank for different turbidity levels. The experimental results on the existing dataset and our new dataset demonstrate the effectiveness of our method.","url_abs":"https://arxiv.org/abs/2303.17981v1","url_pdf":"https://arxiv.org/pdf/2303.17981v1.pdf","source":{"archive":"pwc-archive (Hugging Face), CC BY-SA 4.0","snapshot":"2025-07-28","licence_url":"https://creativecommons.org/licenses/by-sa/4.0/legalcode","row_kind":"abstracts"},"code_links":[{"paper_slug":"knowledge-distillation-for-feature-extraction","repo_url":"https://github.com/jinghe-mel/ufen-slam","is_official":1,"mentioned_in_paper":1,"mentioned_in_github":1,"framework":"pytorch","reach":null}],"tasks":[{"task_slug":"binarization","task_name":"Binarization"},{"task_slug":"knowledge-distillation","task_name":"Knowledge Distillation"}],"methods":[{"method_slug":"knowledge-distillation","method_name":"Knowledge Distillation"},{"method_slug":"test","method_name":"Test"}],"datasets_introduced":[],"methods_introduced":[],"results":[],"syntology":{"atlas_url":null,"mcp":null,"developers":"https://syntology.ai/developers"},"arxiv_metadata":null,"syntology_extracted_results":null}