{"id":"https://openalex.org/W2946171974","doi":"https://doi.org/10.1109/access.2019.2917791","title":"Autonomous Underwater Vehicle Vision Guided Docking Experiments Based on L-Shaped Light Array","display_name":"Autonomous Underwater Vehicle Vision Guided Docking Experiments Based on L-Shaped Light Array","publication_year":2019,"publication_date":"2019-01-01","ids":{"openalex":"https://openalex.org/W2946171974","doi":"https://doi.org/10.1109/access.2019.2917791","mag":"2946171974"},"language":"en","primary_location":{"id":"doi:10.1109/access.2019.2917791","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2019.2917791","pdf_url":"https://ieeexplore.ieee.org/ielx7/6287639/8600701/08718265.pdf","source":{"id":"https://openalex.org/S2485537415","display_name":"IEEE Access","issn_l":"2169-3536","issn":["2169-3536"],"is_oa":true,"is_in_doaj":true,"is_core":true,"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 Access","raw_type":"journal-article"},"type":"article","indexed_in":["crossref","doaj"],"open_access":{"is_oa":true,"oa_status":"gold","oa_url":"https://ieeexplore.ieee.org/ielx7/6287639/8600701/08718265.pdf","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5017411379","display_name":"Zheping Yan","orcid":"https://orcid.org/0000-0002-5598-0275"},"institutions":[{"id":"https://openalex.org/I151727225","display_name":"Harbin Engineering University","ror":"https://ror.org/03x80pn82","country_code":"CN","type":"education","lineage":["https://openalex.org/I151727225"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zheping Yan","raw_affiliation_strings":["College of Automation, Harbin Engineering University, Harbin, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"College of Automation, Harbin Engineering University, Harbin, China","institution_ids":["https://openalex.org/I151727225"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101580658","display_name":"Peng Gong","orcid":"https://orcid.org/0000-0001-7358-3487"},"institutions":[{"id":"https://openalex.org/I151727225","display_name":"Harbin Engineering University","ror":"https://ror.org/03x80pn82","country_code":"CN","type":"education","lineage":["https://openalex.org/I151727225"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Peng Gong","raw_affiliation_strings":["College of Automation, Harbin Engineering University, Harbin, China"],"raw_orcid":"https://orcid.org/0000-0001-7358-3487","affiliations":[{"raw_affiliation_string":"College of Automation, Harbin Engineering University, Harbin, China","institution_ids":["https://openalex.org/I151727225"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100653327","display_name":"Wei Zhang","orcid":"https://orcid.org/0000-0002-1059-3642"},"institutions":[{"id":"https://openalex.org/I151727225","display_name":"Harbin Engineering University","ror":"https://ror.org/03x80pn82","country_code":"CN","type":"education","lineage":["https://openalex.org/I151727225"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Wei Zhang","raw_affiliation_strings":["College of Automation, Harbin Engineering University, Harbin, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"College of Automation, Harbin Engineering University, Harbin, China","institution_ids":["https://openalex.org/I151727225"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100674833","display_name":"Zixuan Li","orcid":"https://orcid.org/0000-0002-7119-2113"},"institutions":[{"id":"https://openalex.org/I151727225","display_name":"Harbin Engineering University","ror":"https://ror.org/03x80pn82","country_code":"CN","type":"education","lineage":["https://openalex.org/I151727225"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zixuan Li","raw_affiliation_strings":["College of Automation, Harbin Engineering University, Harbin, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"College of Automation, Harbin Engineering University, Harbin, China","institution_ids":["https://openalex.org/I151727225"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5080061139","display_name":"Yanbin Teng","orcid":"https://orcid.org/0000-0001-9899-264X"},"institutions":[{"id":"https://openalex.org/I151727225","display_name":"Harbin Engineering University","ror":"https://ror.org/03x80pn82","country_code":"CN","type":"education","lineage":["https://openalex.org/I151727225"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yanbin Teng","raw_affiliation_strings":["College of Automation, Harbin Engineering University, Harbin, China"],"raw_orcid":"https://orcid.org/0000-0001-9899-264X","affiliations":[{"raw_affiliation_string":"College of Automation, Harbin Engineering University, Harbin, China","institution_ids":["https://openalex.org/I151727225"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I151727225"],"apc_list":{"value":1850,"currency":"USD","value_usd":1850},"apc_paid":{"value":1850,"currency":"USD","value_usd":1850},"fwci":4.931,"has_fulltext":true,"cited_by_count":59,"citation_normalized_percentile":{"value":0.95064469,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":94,"max":99},"biblio":{"volume":"7","issue":null,"first_page":"72567","last_page":"72576"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11192","display_name":"Underwater Vehicles and Communication Systems","score":0.9997000098228455,"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":0.9997000098228455,"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/T10851","display_name":"Optical Wireless Communication Technologies","score":0.9909999966621399,"subfield":{"id":"https://openalex.org/subfields/2208","display_name":"Electrical and Electronic 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/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9904000163078308,"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/computer-science","display_name":"Computer science","score":0.5941477417945862},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.5602843761444092},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.4964218735694885},{"id":"https://openalex.org/keywords/underwater","display_name":"Underwater","score":0.48354458808898926},{"id":"https://openalex.org/keywords/remotely-operated-underwater-vehicle","display_name":"Remotely operated underwater vehicle","score":0.45753127336502075},{"id":"https://openalex.org/keywords/robot-vision","display_name":"Robot vision","score":0.44679051637649536},{"id":"https://openalex.org/keywords/machine-vision","display_name":"Machine vision","score":0.44170287251472473},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.34137964248657227},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.14469707012176514},{"id":"https://openalex.org/keywords/geology","display_name":"Geology","score":0.10664868354797363}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5941477417945862},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.5602843761444092},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4964218735694885},{"id":"https://openalex.org/C98083399","wikidata":"https://www.wikidata.org/wiki/Q3246517","display_name":"Underwater","level":2,"score":0.48354458808898926},{"id":"https://openalex.org/C145424490","wikidata":"https://www.wikidata.org/wiki/Q618465","display_name":"Remotely operated underwater vehicle","level":4,"score":0.45753127336502075},{"id":"https://openalex.org/C2983761899","wikidata":"https://www.wikidata.org/wiki/Q604674","display_name":"Robot vision","level":4,"score":0.44679051637649536},{"id":"https://openalex.org/C5339829","wikidata":"https://www.wikidata.org/wiki/Q1425977","display_name":"Machine vision","level":2,"score":0.44170287251472473},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.34137964248657227},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.14469707012176514},{"id":"https://openalex.org/C127313418","wikidata":"https://www.wikidata.org/wiki/Q1069","display_name":"Geology","level":0,"score":0.10664868354797363},{"id":"https://openalex.org/C111368507","wikidata":"https://www.wikidata.org/wiki/Q43518","display_name":"Oceanography","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/access.2019.2917791","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2019.2917791","pdf_url":"https://ieeexplore.ieee.org/ielx7/6287639/8600701/08718265.pdf","source":{"id":"https://openalex.org/S2485537415","display_name":"IEEE Access","issn_l":"2169-3536","issn":["2169-3536"],"is_oa":true,"is_in_doaj":true,"is_core":true,"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 Access","raw_type":"journal-article"},{"id":"pmh:oai:doaj.org/article:07eeca159b754f19a138fb15b9a33ea3","is_oa":true,"landing_page_url":"https://doaj.org/article/07eeca159b754f19a138fb15b9a33ea3","pdf_url":null,"source":{"id":"https://openalex.org/S4306401280","display_name":"DOAJ (DOAJ: Directory of Open Access Journals)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by-sa","license_id":"https://openalex.org/licenses/cc-by-sa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"IEEE Access, Vol 7, Pp 72567-72576 (2019)","raw_type":"article"}],"best_oa_location":{"id":"doi:10.1109/access.2019.2917791","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2019.2917791","pdf_url":"https://ieeexplore.ieee.org/ielx7/6287639/8600701/08718265.pdf","source":{"id":"https://openalex.org/S2485537415","display_name":"IEEE Access","issn_l":"2169-3536","issn":["2169-3536"],"is_oa":true,"is_in_doaj":true,"is_core":true,"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 Access","raw_type":"journal-article"},"sustainable_development_goals":[{"display_name":"Life below water","id":"https://metadata.un.org/sdg/14","score":0.6399999856948853}],"awards":[{"id":"https://openalex.org/G4294538508","display_name":null,"funder_award_id":"51309067","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G4867670104","display_name":null,"funder_award_id":"HEUCFM171011","funder_id":"https://openalex.org/F4320335787","funder_display_name":"Fundamental Research Funds for the Central Universities"},{"id":"https://openalex.org/G5388928762","display_name":null,"funder_award_id":"E2016020","funder_id":"https://openalex.org/F4320323085","funder_display_name":"Natural Science Foundation of Heilongjiang Province"},{"id":"https://openalex.org/G8884425995","display_name":null,"funder_award_id":"HEUCFP201736","funder_id":"https://openalex.org/F4320335787","funder_display_name":"Fundamental Research Funds for the Central Universities"}],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"},{"id":"https://openalex.org/F4320323085","display_name":"Natural Science Foundation of Heilongjiang Province","ror":null},{"id":"https://openalex.org/F4320335787","display_name":"Fundamental Research Funds for the Central Universities","ror":null}],"has_content":{"grobid_xml":true,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W2946171974.pdf","grobid_xml":"https://content.openalex.org/works/W2946171974.grobid-xml"},"referenced_works_count":22,"referenced_works":["https://openalex.org/W1552826706","https://openalex.org/W1560976374","https://openalex.org/W1805278973","https://openalex.org/W1823139046","https://openalex.org/W1968631201","https://openalex.org/W2017660981","https://openalex.org/W2052033489","https://openalex.org/W2061290381","https://openalex.org/W2077260248","https://openalex.org/W2082684925","https://openalex.org/W2156735381","https://openalex.org/W2278145015","https://openalex.org/W2331389904","https://openalex.org/W2586544123","https://openalex.org/W2761734797","https://openalex.org/W2768393699","https://openalex.org/W2789412978","https://openalex.org/W2905275557","https://openalex.org/W2916588527","https://openalex.org/W2920176427","https://openalex.org/W6633265134","https://openalex.org/W6702326350"],"related_works":["https://openalex.org/W4372267671","https://openalex.org/W2079693677","https://openalex.org/W4312756471","https://openalex.org/W4280501266","https://openalex.org/W2318398720","https://openalex.org/W2072007712","https://openalex.org/W2118030816","https://openalex.org/W2928162577","https://openalex.org/W2081400338","https://openalex.org/W2013269986"],"abstract_inverted_index":{"In":[0],"order":[1],"to":[2,74,121],"realize":[3],"recovery":[4,117],"of":[5,19,52,89,92,115,125,136],"an":[6],"autonomous":[7],"underwater":[8],"vehicle":[9],"(AUV),":[10],"the":[11,17,20,27,33,50,53,55,60,63,69,75,87,93,98,104,123,126,134,137],"L-shaped":[12,34,40,127],"light":[13,35,41,64,95,128],"array":[14,36,42,65,129],"installed":[15,48],"at":[16],"bottom":[18],"fork-carrying-pole":[21],"docking":[22,113],"device":[23],"is":[24,37,43,66,71,101,118],"designed,":[25],"and":[26,62,68,133],"visual":[28,131],"positioning":[29,82,138],"algorithm":[30,83],"based":[31],"on":[32,49],"proposed.":[38],"The":[39,79,112],"identified":[44],"by":[45],"a":[46,107],"camera":[47],"abdomen":[51],"AUV,":[54],"relative":[56],"position":[57],"deviation":[58],"from":[59],"AUV":[61,70,85,105,116],"calculated,":[67],"docked":[72],"according":[73],"obtained":[76],"positional":[77],"deviation.":[78],"monocular":[80],"four-degree-of-freedom":[81],"for":[84],"solves":[86],"problem":[88],"missing":[90],"part":[91],"target":[94],"source.":[96],"Judging":[97],"heading":[99],"angle":[100],"improved":[102],"when":[103],"has":[106],"longitudinal":[108],"inclination":[109],"(heeling":[110],"angle).":[111],"experiment":[114],"carried":[119],"out":[120],"verify":[122],"feasibility":[124],"as":[130],"guidance":[132],"stability":[135],"algorithm.":[139]},"counts_by_year":[{"year":2026,"cited_by_count":4},{"year":2025,"cited_by_count":12},{"year":2024,"cited_by_count":11},{"year":2023,"cited_by_count":9},{"year":2022,"cited_by_count":11},{"year":2021,"cited_by_count":5},{"year":2020,"cited_by_count":5},{"year":2019,"cited_by_count":2}],"updated_date":"2026-03-27T05:58:40.876381","created_date":"2025-10-10T00:00:00"}