{"id":"https://openalex.org/W7161822342","doi":"https://doi.org/10.1007/s11370-026-00719-0","title":"AUV pose correction via underwater object recognition using synthetic data","display_name":"AUV pose correction via underwater object recognition using synthetic data","publication_year":2026,"publication_date":"2026-05-20","ids":{"openalex":"https://openalex.org/W7161822342","doi":"https://doi.org/10.1007/s11370-026-00719-0"},"language":"en","primary_location":{"id":"doi:10.1007/s11370-026-00719-0","is_oa":true,"landing_page_url":"https://doi.org/10.1007/s11370-026-00719-0","pdf_url":"https://link.springer.com/content/pdf/10.1007/s11370-026-00719-0.pdf","source":{"id":"https://openalex.org/S145649206","display_name":"Intelligent Service Robotics","issn_l":"1861-2776","issn":["1861-2776","1861-2784"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319900","host_organization_name":"Springer Science+Business Media","host_organization_lineage":["https://openalex.org/P4310319900","https://openalex.org/P4310319965"],"host_organization_lineage_names":["Springer Science+Business Media","Springer Nature"],"type":"journal"},"license":"cc-by-nc-nd","license_id":"https://openalex.org/licenses/cc-by-nc-nd","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Intelligent Service Robotics","raw_type":"journal-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"hybrid","oa_url":"https://link.springer.com/content/pdf/10.1007/s11370-026-00719-0.pdf","any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5136597202","display_name":"Jaemin Ha","orcid":null},"institutions":[{"id":"https://openalex.org/I31419693","display_name":"Kyungpook National University","ror":"https://ror.org/040c17130","country_code":"KR","type":"education","lineage":["https://openalex.org/I31419693"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Jaemin Ha","raw_affiliation_strings":["Department of Smart Mobility Engineering, Kyungpook National University, 80 Daehak-ro, Buk-gu, Daegu, 41566, Republic of Korea"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Smart Mobility Engineering, Kyungpook National University, 80 Daehak-ro, Buk-gu, Daegu, 41566, Republic of Korea","institution_ids":["https://openalex.org/I31419693"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5044752182","display_name":"Heekyu Kweon","orcid":null},"institutions":[{"id":"https://openalex.org/I31419693","display_name":"Kyungpook National University","ror":"https://ror.org/040c17130","country_code":"KR","type":"education","lineage":["https://openalex.org/I31419693"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Heekyu Kweon","raw_affiliation_strings":["Department of Robot Engineering, Kyungpook National University, 80 Daehak-ro, Buk-gu, Daegu, 41566, Republic of Korea"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Robot Engineering, Kyungpook National University, 80 Daehak-ro, Buk-gu, Daegu, 41566, Republic of Korea","institution_ids":["https://openalex.org/I31419693"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5038123641","display_name":"\uc2ec\ud604\ubbfc","orcid":null},"institutions":[{"id":"https://openalex.org/I31419693","display_name":"Kyungpook National University","ror":"https://ror.org/040c17130","country_code":"KR","type":"education","lineage":["https://openalex.org/I31419693"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Hyeonmin Sim","raw_affiliation_strings":["Department of Smart Mobility Engineering, Kyungpook National University, 80 Daehak-ro, Buk-gu, Daegu, 41566, Republic of Korea"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Smart Mobility Engineering, Kyungpook National University, 80 Daehak-ro, Buk-gu, Daegu, 41566, Republic of Korea","institution_ids":["https://openalex.org/I31419693"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5136520457","display_name":"Son-Cheol Yu","orcid":null},"institutions":[{"id":"https://openalex.org/I123900574","display_name":"Pohang University of Science and Technology","ror":"https://ror.org/04xysgw12","country_code":"KR","type":"education","lineage":["https://openalex.org/I123900574"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Son-Cheol Yu","raw_affiliation_strings":["Department of Convergence IT Engineering, Pohang University of Science and Technology (POSTECH), 77 Cheongam-ro, Nam-gu, Pohang, Gyeongsangbuk-do, 37673, Republic of Korea"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Convergence IT Engineering, Pohang University of Science and Technology (POSTECH), 77 Cheongam-ro, Nam-gu, Pohang, Gyeongsangbuk-do, 37673, Republic of Korea","institution_ids":["https://openalex.org/I123900574"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5069584780","display_name":"Hangil Joe","orcid":"https://orcid.org/0000-0002-7091-6167"},"institutions":[{"id":"https://openalex.org/I31419693","display_name":"Kyungpook National University","ror":"https://ror.org/040c17130","country_code":"KR","type":"education","lineage":["https://openalex.org/I31419693"]}],"countries":["KR"],"is_corresponding":true,"raw_author_name":"Hangil Joe","raw_affiliation_strings":["Department of Smart Mobility Engineering, Kyungpook National University, 80 Daehak-ro, Buk-gu, Daegu, 41566, Republic of Korea"],"raw_orcid":"https://orcid.org/0000-0002-7091-6167","affiliations":[{"raw_affiliation_string":"Department of Smart Mobility Engineering, Kyungpook National University, 80 Daehak-ro, Buk-gu, Daegu, 41566, Republic of Korea","institution_ids":["https://openalex.org/I31419693"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5069584780"],"corresponding_institution_ids":["https://openalex.org/I31419693"],"apc_list":{"value":2990,"currency":"USD","value_usd":2990},"apc_paid":{"value":2990,"currency":"USD","value_usd":2990},"fwci":0.0,"has_fulltext":true,"cited_by_count":0,"citation_normalized_percentile":{"value":0.50513816,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":"19","issue":"4","first_page":null,"last_page":null},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11192","display_name":"Underwater Vehicles and Communication Systems","score":0.6554999947547913,"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"}},"topics":[{"id":"https://openalex.org/T11192","display_name":"Underwater Vehicles and Communication Systems","score":0.6554999947547913,"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"}},{"id":"https://openalex.org/T11698","display_name":"Underwater Acoustics Research","score":0.1379999965429306,"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/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.019899999722838402,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace 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/synthetic-data","display_name":"Synthetic data","score":0.5909000039100647},{"id":"https://openalex.org/keywords/underwater","display_name":"Underwater","score":0.5637999773025513},{"id":"https://openalex.org/keywords/object","display_name":"Object (grammar)","score":0.5590000152587891},{"id":"https://openalex.org/keywords/cognitive-neuroscience-of-visual-object-recognition","display_name":"Cognitive neuroscience of visual object recognition","score":0.49869999289512634},{"id":"https://openalex.org/keywords/pattern-recognition","display_name":"Pattern recognition (psychology)","score":0.35269999504089355},{"id":"https://openalex.org/keywords/object-detection","display_name":"Object detection","score":0.319599986076355}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.8389999866485596},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.7037000060081482},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.6764000058174133},{"id":"https://openalex.org/C160920958","wikidata":"https://www.wikidata.org/wiki/Q7662746","display_name":"Synthetic data","level":2,"score":0.5909000039100647},{"id":"https://openalex.org/C98083399","wikidata":"https://www.wikidata.org/wiki/Q3246517","display_name":"Underwater","level":2,"score":0.5637999773025513},{"id":"https://openalex.org/C2781238097","wikidata":"https://www.wikidata.org/wiki/Q175026","display_name":"Object (grammar)","level":2,"score":0.5590000152587891},{"id":"https://openalex.org/C64876066","wikidata":"https://www.wikidata.org/wiki/Q5141226","display_name":"Cognitive neuroscience of visual object recognition","level":3,"score":0.49869999289512634},{"id":"https://openalex.org/C153180895","wikidata":"https://www.wikidata.org/wiki/Q7148389","display_name":"Pattern recognition (psychology)","level":2,"score":0.35269999504089355},{"id":"https://openalex.org/C2776151529","wikidata":"https://www.wikidata.org/wiki/Q3045304","display_name":"Object detection","level":3,"score":0.319599986076355},{"id":"https://openalex.org/C28490314","wikidata":"https://www.wikidata.org/wiki/Q189436","display_name":"Speech recognition","level":1,"score":0.2985000014305115},{"id":"https://openalex.org/C181255713","wikidata":"https://www.wikidata.org/wiki/Q7662740","display_name":"Synthetic aperture sonar","level":3,"score":0.2800000011920929},{"id":"https://openalex.org/C12713177","wikidata":"https://www.wikidata.org/wiki/Q1900281","display_name":"Perspective (graphical)","level":2,"score":0.26649999618530273},{"id":"https://openalex.org/C117623542","wikidata":"https://www.wikidata.org/wiki/Q621974","display_name":"Automatic target recognition","level":3,"score":0.25369998812675476},{"id":"https://openalex.org/C52102323","wikidata":"https://www.wikidata.org/wiki/Q1671968","display_name":"Pose","level":2,"score":0.2526000142097473}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1007/s11370-026-00719-0","is_oa":true,"landing_page_url":"https://doi.org/10.1007/s11370-026-00719-0","pdf_url":"https://link.springer.com/content/pdf/10.1007/s11370-026-00719-0.pdf","source":{"id":"https://openalex.org/S145649206","display_name":"Intelligent Service Robotics","issn_l":"1861-2776","issn":["1861-2776","1861-2784"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319900","host_organization_name":"Springer Science+Business Media","host_organization_lineage":["https://openalex.org/P4310319900","https://openalex.org/P4310319965"],"host_organization_lineage_names":["Springer Science+Business Media","Springer Nature"],"type":"journal"},"license":"cc-by-nc-nd","license_id":"https://openalex.org/licenses/cc-by-nc-nd","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Intelligent Service Robotics","raw_type":"journal-article"}],"best_oa_location":{"id":"doi:10.1007/s11370-026-00719-0","is_oa":true,"landing_page_url":"https://doi.org/10.1007/s11370-026-00719-0","pdf_url":"https://link.springer.com/content/pdf/10.1007/s11370-026-00719-0.pdf","source":{"id":"https://openalex.org/S145649206","display_name":"Intelligent Service Robotics","issn_l":"1861-2776","issn":["1861-2776","1861-2784"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319900","host_organization_name":"Springer Science+Business Media","host_organization_lineage":["https://openalex.org/P4310319900","https://openalex.org/P4310319965"],"host_organization_lineage_names":["Springer Science+Business Media","Springer Nature"],"type":"journal"},"license":"cc-by-nc-nd","license_id":"https://openalex.org/licenses/cc-by-nc-nd","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Intelligent Service Robotics","raw_type":"journal-article"},"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G443953093","display_name":null,"funder_award_id":"20220188","funder_id":"https://openalex.org/F4320327222","funder_display_name":"Korea Institute of Marine Science and Technology promotion"},{"id":"https://openalex.org/G6925829959","display_name":null,"funder_award_id":"20220188","funder_id":"https://openalex.org/F4320322011","funder_display_name":"Ministry of Oceans and Fisheries"},{"id":"https://openalex.org/G8746282614","display_name":null,"funder_award_id":"KRIT-CT-23-016","funder_id":"https://openalex.org/F4320334874","funder_display_name":"Defense Acquisition Program Administration"}],"funders":[{"id":"https://openalex.org/F4320321272","display_name":"Kyungpook National University","ror":"https://ror.org/040c17130"},{"id":"https://openalex.org/F4320322011","display_name":"Ministry of Oceans and Fisheries","ror":"https://ror.org/00c5s4a53"},{"id":"https://openalex.org/F4320327222","display_name":"Korea Institute of Marine Science and Technology promotion","ror":null},{"id":"https://openalex.org/F4320334874","display_name":"Defense Acquisition Program Administration","ror":"https://ror.org/04bjg9m96"}],"has_content":{"pdf":true,"grobid_xml":true},"content_urls":{"pdf":"https://content.openalex.org/works/W7161822342.pdf","grobid_xml":"https://content.openalex.org/works/W7161822342.grobid-xml"},"referenced_works_count":23,"referenced_works":["https://openalex.org/W1969142081","https://openalex.org/W2038085326","https://openalex.org/W2080823437","https://openalex.org/W2087731396","https://openalex.org/W2602686523","https://openalex.org/W2792006036","https://openalex.org/W2950275448","https://openalex.org/W2963037989","https://openalex.org/W3004946915","https://openalex.org/W3006136081","https://openalex.org/W3147436610","https://openalex.org/W4221063239","https://openalex.org/W4312692007","https://openalex.org/W4315783864","https://openalex.org/W4386630524","https://openalex.org/W4391067927","https://openalex.org/W4399929900","https://openalex.org/W4400863112","https://openalex.org/W4404689395","https://openalex.org/W4404968666","https://openalex.org/W4409076757","https://openalex.org/W4412965859","https://openalex.org/W4416183284"],"related_works":[],"abstract_inverted_index":{"Accurate":[0],"localization":[1,157],"of":[2,90,165],"autonomous":[3],"underwater":[4],"vehicles":[5],"(AUVs)":[6],"is":[7,130],"challenging":[8],"because":[9],"inertial":[10],"measurement":[11],"units":[12],"(IMUs)":[13],"and":[14,48,65,70,87,122],"Doppler":[15],"velocity":[16],"logs":[17],"(DVLs)":[18],"accumulate":[19],"drift":[20],"during":[21],"long-duration":[22],"missions.":[23],"To":[24],"address":[25],"this":[26,28],"challenge,":[27],"study":[29],"explores":[30],"whether":[31],"synthetic":[32,85,167],"sonar":[33,62,125],"imagery":[34],"can":[35],"provide":[36],"transferable":[37],"landmark":[38,98,101],"cues":[39],"for":[40,146,172],"real-world":[41,173],"mapping,":[42],"thereby":[43],"reducing":[44],"dependence":[45],"on":[46,84],"costly":[47],"limited":[49],"field":[50],"datasets.":[51],"Using":[52],"an":[53],"Unreal":[54],"Engine":[55],"5-based":[56],"FURo-sim":[57],"framework,":[58],"we":[59],"generated":[60],"forward-looking":[61],"(FLS)":[63],"data":[64],"automatically":[66],"annotated":[67],"high-intensity":[68],"returns":[69],"their":[71],"acoustic":[72,140],"shadows.":[73],"These":[74],"annotations":[75],"are":[76,95,103],"used":[77],"to":[78,116],"train":[79],"a":[80,111,144],"YOLO11":[81],"detector":[82],"exclusively":[83],"data,":[86,135],"the":[88,91,119,123,153,163,166],"centroids":[89],"resulting":[92,124],"bounding":[93],"boxes":[94],"interpreted":[96],"as":[97,143],"observations.":[99],"The":[100,127],"detections":[102],"then":[104],"fused":[105],"with":[106,136],"DVL/IMU":[107],"dead":[108],"reckoning":[109],"within":[110],"two-dimensional":[112],"pose-graph":[113,170],"optimization":[114],"framework":[115],"refine":[117],"both":[118],"vehicle":[120],"trajectory":[121],"mosaics.":[126],"proposed":[128],"approach":[129],"validated":[131],"using":[132],"real":[133],"coastal-sea":[134],"ultra-short":[137],"baseline":[138],"(USBL)":[139],"positioning":[141],"serving":[142],"proxy":[145],"ground":[147],"truth.":[148],"Experimental":[149],"results":[150],"show":[151],"that":[152],"method":[154],"reduces":[155],"dead-reckoning":[156],"error":[158],"by":[159],"$$15.4\\%$$":[160],",":[161],"demonstrating":[162],"effectiveness":[164],"data-driven":[168],"detector-based":[169],"formulation":[171],"AUV":[174],"navigation.":[175]},"counts_by_year":[],"updated_date":"2026-07-29T09:40:50.615796","created_date":"2026-05-21T00:00:00"}