{"id":"https://openalex.org/W2993483871","doi":"https://doi.org/10.1109/joe.2019.2950974","title":"Real-Time Object Detection for AUVs Using Self-Cascaded Convolutional Neural Networks","display_name":"Real-Time Object Detection for AUVs Using Self-Cascaded Convolutional Neural Networks","publication_year":2019,"publication_date":"2019-12-05","ids":{"openalex":"https://openalex.org/W2993483871","doi":"https://doi.org/10.1109/joe.2019.2950974","mag":"2993483871"},"language":"en","primary_location":{"id":"doi:10.1109/joe.2019.2950974","doi":"https://doi.org/10.1109/joe.2019.2950974","is_oa":false,"landing_page_url":"https://doi.org/10.1109/joe.2019.2950974","pdf_url":null,"source":{"id":"https://openalex.org/S132957497","display_name":"IEEE Journal of Oceanic Engineering","issn_l":"0364-9059","issn":["0364-9059","1558-1691","2373-7786"],"is_oa":false,"is_in_doaj":false,"is_core":true,"listed_in":["cwts-core","dongbi-b","jufo-1","norway-1","poland-140","russia-white-list-1"],"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Journal of Oceanic Engineering","raw_type":"journal-article"},"volume":null,"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5100381751","display_name":"Yan Song","orcid":"https://orcid.org/0000-0001-7050-4368","observed_orcids":["https://orcid.org/0000-0001-7050-4368","https://orcid.org/0000-0001-7927-0908","https://orcid.org/0000-0002-9035-9142"]},"institutions":[{"id":"https://openalex.org/I154099455","display_name":"Shandong University","ror":"https://ror.org/0207yh398","country_code":"CN","type":"education","lineage":["https://openalex.org/I154099455"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yan Song","raw_affiliation_strings":["Institute of Marine Science and Technology, Shandong University, Qingdao, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institute of Marine Science and Technology, Shandong University, Qingdao, China","institution_ids":["https://openalex.org/I154099455"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100760748","display_name":"Bo He","orcid":"https://orcid.org/0000-0001-6826-4721","observed_orcids":["https://orcid.org/0000-0001-6826-4721","https://orcid.org/0000-0001-9092-9152"]},"institutions":[{"id":"https://openalex.org/I59028903","display_name":"Ocean University of China","ror":"https://ror.org/04rdtx186","country_code":"CN","type":"education","lineage":["https://openalex.org/I59028903"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Bo He","raw_affiliation_strings":["School of Information Science and Engineering, Ocean University of China, Qingdao, China"],"raw_orcid":"https://orcid.org/0000-0001-6826-4721","affiliations":[{"raw_affiliation_string":"School of Information Science and Engineering, Ocean University of China, Qingdao, China","institution_ids":["https://openalex.org/I59028903"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5043037637","display_name":"Peng Zheng Liu","orcid":"https://orcid.org/0000-0003-0492-4473","observed_orcids":["https://orcid.org/0000-0003-0492-4473"]},"institutions":[{"id":"https://openalex.org/I162868743","display_name":"Tianjin University","ror":"https://ror.org/012tb2g32","country_code":"CN","type":"education","lineage":["https://openalex.org/I162868743"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Peng Liu","raw_affiliation_strings":["School of Microelectronics, Tianjin University, Tianjin, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Microelectronics, Tianjin University, Tianjin, China","institution_ids":["https://openalex.org/I162868743"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":{"value":2045,"currency":"USD","value_usd":2045},"apc_paid":null,"fwci":2.487,"has_fulltext":false,"cited_by_count":65,"citation_normalized_percentile":{"value":0.88789467,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":93,"max":100},"biblio":{"volume":"46","issue":"1","first_page":"56","last_page":"67"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11698","display_name":"Underwater Acoustics Research","score":0.8550000190734863,"subfield":{"id":"https://openalex.org/subfields/1910","display_name":"Oceanography"},"field":{"id":"https://openalex.org/fields/19","display_name":"Earth and Planetary Sciences"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T11698","display_name":"Underwater Acoustics Research","score":0.8550000190734863,"subfield":{"id":"https://openalex.org/subfields/1910","display_name":"Oceanography"},"field":{"id":"https://openalex.org/fields/19","display_name":"Earth and Planetary Sciences"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10036","display_name":"Advanced Neural Network Applications","score":0.12710000574588776,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11192","display_name":"Underwater Vehicles and Communication Systems","score":0.0066999997943639755,"subfield":{"id":"https://openalex.org/subfields/2212","display_name":"Ocean Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/real-time-object-detection","display_name":"real-time object detection","score":0.8489999771118164},{"id":"https://openalex.org/keywords/autonomous-underwater-vehicles","display_name":"autonomous underwater vehicles","score":0.9739999771118164},{"id":"https://openalex.org/keywords/side-scan-sonar","display_name":"side-scan sonar","score":0.972000002861023},{"id":"https://openalex.org/keywords/sonar-image-segmentation","display_name":"sonar image segmentation","score":0.8880000114440918},{"id":"https://openalex.org/keywords/speckle-noise-robustness","display_name":"speckle noise robustness","score":0.8930000066757202},{"id":"https://openalex.org/keywords/intensity-inhomogeneity","display_name":"intensity inhomogeneity","score":0.9380000233650208},{"id":"https://openalex.org/keywords/underwater-object-detection","display_name":"underwater object detection","score":0.503000020980835}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7989115118980408},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.7779016494750977},{"id":"https://openalex.org/C81363708","wikidata":"https://www.wikidata.org/wiki/Q17084460","display_name":"Convolutional neural network","level":2,"score":0.7654737234115601},{"id":"https://openalex.org/C2776151529","wikidata":"https://www.wikidata.org/wiki/Q3045304","display_name":"Object detection","level":3,"score":0.6543856859207153},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.606199324131012},{"id":"https://openalex.org/C89600930","wikidata":"https://www.wikidata.org/wiki/Q1423946","display_name":"Segmentation","level":2,"score":0.5872992277145386},{"id":"https://openalex.org/C2778045648","wikidata":"https://www.wikidata.org/wiki/Q176827","display_name":"Markov random field","level":4,"score":0.5572354793548584},{"id":"https://openalex.org/C153180895","wikidata":"https://www.wikidata.org/wiki/Q7148389","display_name":"Pattern recognition (psychology)","level":2,"score":0.5116565823554993},{"id":"https://openalex.org/C124504099","wikidata":"https://www.wikidata.org/wiki/Q56933","display_name":"Image segmentation","level":3,"score":0.45341524481773376},{"id":"https://openalex.org/C45347329","wikidata":"https://www.wikidata.org/wiki/Q5166604","display_name":"Convolution (computer science)","level":3,"score":0.4403282403945923},{"id":"https://openalex.org/C52622490","wikidata":"https://www.wikidata.org/wiki/Q1026626","display_name":"Feature extraction","level":2,"score":0.42063167691230774},{"id":"https://openalex.org/C50644808","wikidata":"https://www.wikidata.org/wiki/Q192776","display_name":"Artificial neural network","level":2,"score":0.26532354950904846}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/joe.2019.2950974","doi":"https://doi.org/10.1109/joe.2019.2950974","is_oa":false,"landing_page_url":"https://doi.org/10.1109/joe.2019.2950974","pdf_url":null,"source":{"id":"https://openalex.org/S132957497","display_name":"IEEE Journal of Oceanic Engineering","issn_l":"0364-9059","issn":["0364-9059","1558-1691","2373-7786"],"is_oa":false,"is_in_doaj":false,"is_core":true,"listed_in":["cwts-core","dongbi-b","jufo-1","norway-1","poland-140","russia-white-list-1"],"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Journal of Oceanic Engineering","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[],"study_designs":[],"awards":[{"id":"https://openalex.org/G337312181","display_name":null,"funder_award_id":"41906164","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G6090601174","display_name":null,"funder_award_id":"2016YFC0301400","funder_id":"https://openalex.org/F4320336026","funder_display_name":"National Key Research and Development Program of China Stem Cell and Translational Research"}],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"},{"id":"https://openalex.org/F4320336026","display_name":"National Key Research and Development Program of China Stem Cell and Translational Research","ror":null}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":39,"referenced_works":["https://openalex.org/W639708223","https://openalex.org/W1884191083","https://openalex.org/W1903029394","https://openalex.org/W1910657905","https://openalex.org/W1955857676","https://openalex.org/W1975194708","https://openalex.org/W1982010659","https://openalex.org/W2055327230","https://openalex.org/W2087091994","https://openalex.org/W2087731396","https://openalex.org/W2118652164","https://openalex.org/W2124046407","https://openalex.org/W2128093092","https://openalex.org/W2259071507","https://openalex.org/W2341130385","https://openalex.org/W2344446275","https://openalex.org/W2389080410","https://openalex.org/W2394599079","https://openalex.org/W2402144811","https://openalex.org/W2412782625","https://openalex.org/W2533058588","https://openalex.org/W2538244214","https://openalex.org/W2560023338","https://openalex.org/W2563705555","https://openalex.org/W2566134621","https://openalex.org/W2603823201","https://openalex.org/W2612445135","https://openalex.org/W2616551092","https://openalex.org/W2729549813","https://openalex.org/W2732063980","https://openalex.org/W2738749209","https://openalex.org/W2746923101","https://openalex.org/W2794558093","https://openalex.org/W2799952608","https://openalex.org/W2808225117","https://openalex.org/W2904263947","https://openalex.org/W2946355854","https://openalex.org/W2953571907","https://openalex.org/W2963087201"],"related_works":["https://openalex.org/W2949363002","https://openalex.org/W2567051930","https://openalex.org/W2781945323","https://openalex.org/W4313320402","https://openalex.org/W3165909822","https://openalex.org/W2985385581","https://openalex.org/W2943420568","https://openalex.org/W4392745483","https://openalex.org/W4394785609","https://openalex.org/W3001553178"],"abstract_inverted_index":{"This":[0],"article":[1],"presents":[2],"an":[3,14],"automatic":[4],"real-time":[5,111,166],"object":[6,112,167],"detection":[7,21,113,168],"method":[8,22,117,144],"using":[9,102],"sidescan":[10],"sonar":[11],"(SSS)":[12],"and":[13,49,52,59,77,158,162],"onboard":[15],"graphics":[16],"processing":[17],"unit":[18],"(GPU).":[19],"The":[20,40,138],"is":[23,33,54,163],"based":[24],"on":[25,120],"a":[26],"modified":[27],"convolutional":[28],"neural":[29],"network":[30,73],"(CNN),":[31],"which":[32,70],"referred":[34],"to":[35,56,74,86],"as":[36],"self-cascaded":[37],"CNN":[38,157],"(SC-CNN).":[39],"SC-CNN":[41,66,99],"model":[42],"segments":[43],"SSS":[44,146],"images":[45],"into":[46,94],"object-highlight,":[47],"object-shadow,":[48],"seafloor":[50],"areas,":[51],"it":[53],"robust":[55],"speckle":[57],"noise":[58],"intensity":[60],"inhomogeneity.":[61],"Compared":[62],"with":[63,154],"typical":[64,156],"CNN,":[65],"utilizes":[67],"crop":[68],"layers":[69],"enable":[71],"the":[72,88,96,107,115,142,155],"use":[75],"local":[76,89],"global":[78],"features":[79],"simultaneously":[80],"without":[81],"adding":[82],"convolution":[83],"parameters.":[84],"Moreover,":[85],"take":[87],"dependencies":[90],"of":[91,98],"class":[92],"labels":[93],"consideration,":[95],"results":[97,139],"are":[100],"postprocessed":[101],"Markov":[103],"random":[104],"field.":[105],"Furthermore,":[106],"sea":[108],"trial":[109],"for":[110,145],"via":[114,128],"presented":[116,143],"was":[118],"implemented":[119],"our":[121],"autonomous":[122],"underwater":[123],"vehicle":[124],"(AUV)":[125],"named":[126],"SAILFISH":[127],"its":[129],"GPU":[130],"module":[131],"at":[132],"Jiaozhou":[133],"Bay":[134],"Bridge,":[135],"Qingdao,":[136],"China.":[137],"show":[140],"that":[141],"image":[147],"segmentation":[148,160],"has":[149],"obvious":[150],"advantages":[151],"when":[152],"compared":[153],"unsupervised":[159],"methods,":[161],"applicable":[164],"in":[165],"task.":[169]},"counts_by_year":[{"year":2026,"cited_by_count":3},{"year":2025,"cited_by_count":8},{"year":2024,"cited_by_count":21},{"year":2023,"cited_by_count":15},{"year":2022,"cited_by_count":10},{"year":2021,"cited_by_count":6},{"year":2020,"cited_by_count":2}],"updated_date":"2026-10-16T09:59:22.235173","created_date":"2019-12-13T00:00:00"}
