{"id":"https://openalex.org/W2988905166","doi":"https://doi.org/10.1109/access.2019.2952445","title":"Underwater Loop-Closure Detection for Mechanical Scanning Imaging Sonar by Filtering the Similarity Matrix With Probability Hypothesis Density Filter","display_name":"Underwater Loop-Closure Detection for Mechanical Scanning Imaging Sonar by Filtering the Similarity Matrix With Probability Hypothesis Density Filter","publication_year":2019,"publication_date":"2019-01-01","ids":{"openalex":"https://openalex.org/W2988905166","doi":"https://doi.org/10.1109/access.2019.2952445","mag":"2988905166"},"language":"en","primary_location":{"id":"doi:10.1109/access.2019.2952445","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2019.2952445","pdf_url":"https://ieeexplore.ieee.org/ielx7/6287639/8600701/08903570.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":"cc-by","license_id":"https://openalex.org/licenses/cc-by","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/ielx7/6287639/8600701/08903570.pdf","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5101844536","display_name":"Min Jiang","orcid":"https://orcid.org/0000-0003-4381-8833"},"institutions":[{"id":"https://openalex.org/I142078773","display_name":"Shenyang Institute of Automation","ror":"https://ror.org/00ft6nj33","country_code":"CN","type":"facility","lineage":["https://openalex.org/I142078773","https://openalex.org/I19820366"]},{"id":"https://openalex.org/I19820366","display_name":"Chinese Academy of Sciences","ror":"https://ror.org/034t30j35","country_code":"CN","type":"government","lineage":["https://openalex.org/I19820366"]},{"id":"https://openalex.org/I4210165038","display_name":"University of Chinese Academy of Sciences","ror":"https://ror.org/05qbk4x57","country_code":"CN","type":"education","lineage":["https://openalex.org/I19820366","https://openalex.org/I4210165038"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Min Jiang","raw_affiliation_strings":["Institutes for Robotics and Intelligent Manufacturing, Chinese Academy of Sciences, Shenyang, China","State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang, China","University of Chinese Academy of Sciences, Beijing, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institutes for Robotics and Intelligent Manufacturing, Chinese Academy of Sciences, Shenyang, China","institution_ids":["https://openalex.org/I142078773","https://openalex.org/I19820366"]},{"raw_affiliation_string":"State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang, China","institution_ids":["https://openalex.org/I142078773","https://openalex.org/I19820366"]},{"raw_affiliation_string":"University of Chinese Academy of Sciences, Beijing, China","institution_ids":["https://openalex.org/I4210165038"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100958652","display_name":"Xisheng Feng","orcid":null},"institutions":[{"id":"https://openalex.org/I142078773","display_name":"Shenyang Institute of Automation","ror":"https://ror.org/00ft6nj33","country_code":"CN","type":"facility","lineage":["https://openalex.org/I142078773","https://openalex.org/I19820366"]},{"id":"https://openalex.org/I19820366","display_name":"Chinese Academy of Sciences","ror":"https://ror.org/034t30j35","country_code":"CN","type":"government","lineage":["https://openalex.org/I19820366"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xisheng Feng","raw_affiliation_strings":["Institutes for Robotics and Intelligent Manufacturing, Chinese Academy of Sciences, Shenyang, China","State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institutes for Robotics and Intelligent Manufacturing, Chinese Academy of Sciences, Shenyang, China","institution_ids":["https://openalex.org/I142078773","https://openalex.org/I19820366"]},{"raw_affiliation_string":"State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang, China","institution_ids":["https://openalex.org/I142078773","https://openalex.org/I19820366"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5061729224","display_name":"Sanming Song","orcid":"https://orcid.org/0000-0001-7019-9965"},"institutions":[{"id":"https://openalex.org/I142078773","display_name":"Shenyang Institute of Automation","ror":"https://ror.org/00ft6nj33","country_code":"CN","type":"facility","lineage":["https://openalex.org/I142078773","https://openalex.org/I19820366"]},{"id":"https://openalex.org/I19820366","display_name":"Chinese Academy of Sciences","ror":"https://ror.org/034t30j35","country_code":"CN","type":"government","lineage":["https://openalex.org/I19820366"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Sanming Song","raw_affiliation_strings":["Institutes for Robotics and Intelligent Manufacturing, Chinese Academy of Sciences, Shenyang, China","State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang, China"],"raw_orcid":"https://orcid.org/0000-0001-7019-9965","affiliations":[{"raw_affiliation_string":"Institutes for Robotics and Intelligent Manufacturing, Chinese Academy of Sciences, Shenyang, China","institution_ids":["https://openalex.org/I142078773","https://openalex.org/I19820366"]},{"raw_affiliation_string":"State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang, China","institution_ids":["https://openalex.org/I142078773","https://openalex.org/I19820366"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101608069","display_name":"J. Michael Herrmann","orcid":"https://orcid.org/0000-0001-6255-3944"},"institutions":[{"id":"https://openalex.org/I98677209","display_name":"University of Edinburgh","ror":"https://ror.org/01nrxwf90","country_code":"GB","type":"education","lineage":["https://openalex.org/I98677209"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"J. Michael Herrmann","raw_affiliation_strings":["Institute of Perception, Action and Behaviour, The University of Edinburgh, Edinburgh, U.K"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institute of Perception, Action and Behaviour, The University of Edinburgh, Edinburgh, U.K","institution_ids":["https://openalex.org/I98677209"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5063383376","display_name":"Jihong Li","orcid":"https://orcid.org/0000-0002-5162-2737"},"institutions":[{"id":"https://openalex.org/I4210096735","display_name":"Korea Institute of Robot and Convergence","ror":"https://ror.org/00v019t60","country_code":"KR","type":"facility","lineage":["https://openalex.org/I4210096735"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Ji-Hong Li","raw_affiliation_strings":["Marine Robotics R&D Division, Korea Institute of Robot and Convergence, Pohang, South Korea"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Marine Robotics R&D Division, Korea Institute of Robot and Convergence, Pohang, South Korea","institution_ids":["https://openalex.org/I4210096735"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5070772177","display_name":"Yiping Li","orcid":"https://orcid.org/0000-0002-9461-813X"},"institutions":[{"id":"https://openalex.org/I142078773","display_name":"Shenyang Institute of Automation","ror":"https://ror.org/00ft6nj33","country_code":"CN","type":"facility","lineage":["https://openalex.org/I142078773","https://openalex.org/I19820366"]},{"id":"https://openalex.org/I19820366","display_name":"Chinese Academy of Sciences","ror":"https://ror.org/034t30j35","country_code":"CN","type":"government","lineage":["https://openalex.org/I19820366"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yiping Li","raw_affiliation_strings":["Institutes for Robotics and Intelligent Manufacturing, Chinese Academy of Sciences, Shenyang, China","State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institutes for Robotics and Intelligent Manufacturing, Chinese Academy of Sciences, Shenyang, China","institution_ids":["https://openalex.org/I142078773","https://openalex.org/I19820366"]},{"raw_affiliation_string":"State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang, China","institution_ids":["https://openalex.org/I142078773","https://openalex.org/I19820366"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101417955","display_name":"Zhiqiang Hu","orcid":"https://orcid.org/0000-0003-0830-815X"},"institutions":[{"id":"https://openalex.org/I142078773","display_name":"Shenyang Institute of Automation","ror":"https://ror.org/00ft6nj33","country_code":"CN","type":"facility","lineage":["https://openalex.org/I142078773","https://openalex.org/I19820366"]},{"id":"https://openalex.org/I19820366","display_name":"Chinese Academy of Sciences","ror":"https://ror.org/034t30j35","country_code":"CN","type":"government","lineage":["https://openalex.org/I19820366"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zhiqiang Hu","raw_affiliation_strings":["Institutes for Robotics and Intelligent Manufacturing, Chinese Academy of Sciences, Shenyang, China","State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institutes for Robotics and Intelligent Manufacturing, Chinese Academy of Sciences, Shenyang, China","institution_ids":["https://openalex.org/I142078773","https://openalex.org/I19820366"]},{"raw_affiliation_string":"State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang, China","institution_ids":["https://openalex.org/I142078773","https://openalex.org/I19820366"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100363791","display_name":"Zhigang Li","orcid":"https://orcid.org/0000-0001-7164-1049"},"institutions":[{"id":"https://openalex.org/I142078773","display_name":"Shenyang Institute of Automation","ror":"https://ror.org/00ft6nj33","country_code":"CN","type":"facility","lineage":["https://openalex.org/I142078773","https://openalex.org/I19820366"]},{"id":"https://openalex.org/I19820366","display_name":"Chinese Academy of Sciences","ror":"https://ror.org/034t30j35","country_code":"CN","type":"government","lineage":["https://openalex.org/I19820366"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zhigang Li","raw_affiliation_strings":["Institutes for Robotics and Intelligent Manufacturing, Chinese Academy of Sciences, Shenyang, China","State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institutes for Robotics and Intelligent Manufacturing, Chinese Academy of Sciences, Shenyang, China","institution_ids":["https://openalex.org/I142078773","https://openalex.org/I19820366"]},{"raw_affiliation_string":"State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang, China","institution_ids":["https://openalex.org/I142078773","https://openalex.org/I19820366"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100414679","display_name":"Jian Liu","orcid":"https://orcid.org/0000-0002-5114-0404"},"institutions":[{"id":"https://openalex.org/I142078773","display_name":"Shenyang Institute of Automation","ror":"https://ror.org/00ft6nj33","country_code":"CN","type":"facility","lineage":["https://openalex.org/I142078773","https://openalex.org/I19820366"]},{"id":"https://openalex.org/I19820366","display_name":"Chinese Academy of Sciences","ror":"https://ror.org/034t30j35","country_code":"CN","type":"government","lineage":["https://openalex.org/I19820366"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jian Liu","raw_affiliation_strings":["Institutes for Robotics and Intelligent Manufacturing, Chinese Academy of Sciences, Shenyang, China","State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institutes for Robotics and Intelligent Manufacturing, Chinese Academy of Sciences, Shenyang, China","institution_ids":["https://openalex.org/I142078773","https://openalex.org/I19820366"]},{"raw_affiliation_string":"State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang, China","institution_ids":["https://openalex.org/I142078773","https://openalex.org/I19820366"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100386630","display_name":"Shuo Li","orcid":"https://orcid.org/0000-0002-5184-3230"},"institutions":[{"id":"https://openalex.org/I142078773","display_name":"Shenyang Institute of Automation","ror":"https://ror.org/00ft6nj33","country_code":"CN","type":"facility","lineage":["https://openalex.org/I142078773","https://openalex.org/I19820366"]},{"id":"https://openalex.org/I19820366","display_name":"Chinese Academy of Sciences","ror":"https://ror.org/034t30j35","country_code":"CN","type":"government","lineage":["https://openalex.org/I19820366"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Shuo Li","raw_affiliation_strings":["Institutes for Robotics and Intelligent Manufacturing, Chinese Academy of Sciences, Shenyang, China","State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institutes for Robotics and Intelligent Manufacturing, Chinese Academy of Sciences, Shenyang, China","institution_ids":["https://openalex.org/I142078773","https://openalex.org/I19820366"]},{"raw_affiliation_string":"State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang, China","institution_ids":["https://openalex.org/I142078773","https://openalex.org/I19820366"]}]}],"institutions":[],"countries_distinct_count":3,"institutions_distinct_count":10,"corresponding_author_ids":["https://openalex.org/A5101844536"],"corresponding_institution_ids":["https://openalex.org/I142078773","https://openalex.org/I19820366","https://openalex.org/I4210165038"],"apc_list":{"value":1850,"currency":"USD","value_usd":1850},"apc_paid":{"value":1850,"currency":"USD","value_usd":1850},"fwci":7.3523,"has_fulltext":true,"cited_by_count":9,"citation_normalized_percentile":{"value":0.97183847,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":97},"biblio":{"volume":"7","issue":null,"first_page":"166614","last_page":"166628"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9998999834060669,"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"}},"topics":[{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9998999834060669,"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"}},{"id":"https://openalex.org/T11192","display_name":"Underwater Vehicles and Communication Systems","score":0.9998999834060669,"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/T10326","display_name":"Indoor and Outdoor Localization Technologies","score":0.9988999962806702,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/sonar","display_name":"Sonar","score":0.7413519620895386},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.6836346387863159},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.6645807027816772},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6640585660934448},{"id":"https://openalex.org/keywords/simultaneous-localization-and-mapping","display_name":"Simultaneous localization and mapping","score":0.5414999723434448},{"id":"https://openalex.org/keywords/inertial-navigation-system","display_name":"Inertial navigation system","score":0.49574312567710876},{"id":"https://openalex.org/keywords/noise","display_name":"Noise (video)","score":0.4734068810939789},{"id":"https://openalex.org/keywords/filter","display_name":"Filter (signal processing)","score":0.45506757497787476},{"id":"https://openalex.org/keywords/underwater","display_name":"Underwater","score":0.4352065920829773},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.2762817144393921},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.2489476501941681},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.1762298047542572},{"id":"https://openalex.org/keywords/orientation","display_name":"Orientation (vector space)","score":0.11944466829299927},{"id":"https://openalex.org/keywords/image","display_name":"Image (mathematics)","score":0.11530846357345581},{"id":"https://openalex.org/keywords/geology","display_name":"Geology","score":0.11302036046981812}],"concepts":[{"id":"https://openalex.org/C555745239","wikidata":"https://www.wikidata.org/wiki/Q133220","display_name":"Sonar","level":2,"score":0.7413519620895386},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.6836346387863159},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6645807027816772},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6640585660934448},{"id":"https://openalex.org/C86369673","wikidata":"https://www.wikidata.org/wiki/Q1203659","display_name":"Simultaneous localization and mapping","level":4,"score":0.5414999723434448},{"id":"https://openalex.org/C128651787","wikidata":"https://www.wikidata.org/wiki/Q570607","display_name":"Inertial navigation system","level":3,"score":0.49574312567710876},{"id":"https://openalex.org/C99498987","wikidata":"https://www.wikidata.org/wiki/Q2210247","display_name":"Noise (video)","level":3,"score":0.4734068810939789},{"id":"https://openalex.org/C106131492","wikidata":"https://www.wikidata.org/wiki/Q3072260","display_name":"Filter (signal processing)","level":2,"score":0.45506757497787476},{"id":"https://openalex.org/C98083399","wikidata":"https://www.wikidata.org/wiki/Q3246517","display_name":"Underwater","level":2,"score":0.4352065920829773},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.2762817144393921},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.2489476501941681},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.1762298047542572},{"id":"https://openalex.org/C16345878","wikidata":"https://www.wikidata.org/wiki/Q107472979","display_name":"Orientation (vector space)","level":2,"score":0.11944466829299927},{"id":"https://openalex.org/C115961682","wikidata":"https://www.wikidata.org/wiki/Q860623","display_name":"Image (mathematics)","level":2,"score":0.11530846357345581},{"id":"https://openalex.org/C127313418","wikidata":"https://www.wikidata.org/wiki/Q1069","display_name":"Geology","level":0,"score":0.11302036046981812},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.0},{"id":"https://openalex.org/C111368507","wikidata":"https://www.wikidata.org/wiki/Q43518","display_name":"Oceanography","level":1,"score":0.0}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.1109/access.2019.2952445","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2019.2952445","pdf_url":"https://ieeexplore.ieee.org/ielx7/6287639/8600701/08903570.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":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Access","raw_type":"journal-article"},{"id":"pmh:oai:doaj.org/article:e8c3475e755d4a0babf18eab9f81dba3","is_oa":true,"landing_page_url":"https://doaj.org/article/e8c3475e755d4a0babf18eab9f81dba3","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 166614-166628 (2019)","raw_type":"article"},{"id":"pmh:oai:ir.sia.cn/:173321/26471","is_oa":false,"landing_page_url":"http://ir.sia.cn/handle/173321/26471","pdf_url":null,"source":{"id":"https://openalex.org/S4377196984","display_name":"SIA OpenIR (Chinese Academy of Sciences)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I19820366","host_organization_name":"Chinese Academy of Sciences","host_organization_lineage":["https://openalex.org/I19820366"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"\u671f\u520a\u8bba\u6587"}],"best_oa_location":{"id":"doi:10.1109/access.2019.2952445","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2019.2952445","pdf_url":"https://ieeexplore.ieee.org/ielx7/6287639/8600701/08903570.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":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Access","raw_type":"journal-article"},"sustainable_development_goals":[{"score":0.8600000143051147,"id":"https://metadata.un.org/sdg/14","display_name":"Life below water"}],"awards":[{"id":"https://openalex.org/G3192373907","display_name":null,"funder_award_id":"2016YFC0300801","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G3889726652","display_name":null,"funder_award_id":"XDA13030203","funder_id":"https://openalex.org/F4320321133","funder_display_name":"Chinese Academy of Sciences"},{"id":"https://openalex.org/G3949590341","display_name":null,"funder_award_id":"2017-Z010","funder_id":"https://openalex.org/F4320326907","funder_display_name":"State Key Laboratory of Robotics"},{"id":"https://openalex.org/G4810743291","display_name":null,"funder_award_id":"2016YFC0301601","funder_id":"https://openalex.org/F4320335777","funder_display_name":"National Key Research and Development Program of China"},{"id":"https://openalex.org/G490098332","display_name":null,"funder_award_id":"61973297","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G5968192735","display_name":null,"funder_award_id":"2016YFC0300604","funder_id":"https://openalex.org/F4320335777","funder_display_name":"National Key Research and Development Program of China"},{"id":"https://openalex.org/G6483122640","display_name":null,"funder_award_id":"2016YFC0300801","funder_id":"https://openalex.org/F4320335777","funder_display_name":"National Key Research and Development Program of China"},{"id":"https://openalex.org/G8212675432","display_name":null,"funder_award_id":"PJT200539","funder_id":"https://openalex.org/F4320327222","funder_display_name":"Korea Institute of Marine Science and Technology promotion"},{"id":"https://openalex.org/G8221574441","display_name":null,"funder_award_id":"XDC03060105","funder_id":"https://openalex.org/F4320321133","funder_display_name":"Chinese Academy of Sciences"},{"id":"https://openalex.org/G8680945403","display_name":null,"funder_award_id":"JSC005","funder_id":"https://openalex.org/F4320321133","funder_display_name":"Chinese Academy of Sciences"},{"id":"https://openalex.org/G961221391","display_name":null,"funder_award_id":"QYZDY-SSW-JSC005","funder_id":"https://openalex.org/F4320321133","funder_display_name":"Chinese Academy of Sciences"}],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"},{"id":"https://openalex.org/F4320321133","display_name":"Chinese Academy of Sciences","ror":"https://ror.org/034t30j35"},{"id":"https://openalex.org/F4320326907","display_name":"State Key Laboratory of Robotics","ror":null},{"id":"https://openalex.org/F4320327222","display_name":"Korea Institute of Marine Science and Technology promotion","ror":null},{"id":"https://openalex.org/F4320334011","display_name":"Ocean Public Welfare Scientific Research Project","ror":null},{"id":"https://openalex.org/F4320335777","display_name":"National Key Research and Development Program of China","ror":null}],"has_content":{"pdf":true,"grobid_xml":true},"content_urls":{"pdf":"https://content.openalex.org/works/W2988905166.pdf","grobid_xml":"https://content.openalex.org/works/W2988905166.grobid-xml"},"referenced_works_count":41,"referenced_works":["https://openalex.org/W167564556","https://openalex.org/W1482770670","https://openalex.org/W1552710151","https://openalex.org/W1677409904","https://openalex.org/W1976809435","https://openalex.org/W1978791302","https://openalex.org/W1982452847","https://openalex.org/W1989484209","https://openalex.org/W1997184982","https://openalex.org/W2010806162","https://openalex.org/W2011767579","https://openalex.org/W2014787937","https://openalex.org/W2014796651","https://openalex.org/W2026526694","https://openalex.org/W2049981393","https://openalex.org/W2055751584","https://openalex.org/W2071987571","https://openalex.org/W2080823437","https://openalex.org/W2107402720","https://openalex.org/W2110405746","https://openalex.org/W2124386111","https://openalex.org/W2128410408","https://openalex.org/W2137585588","https://openalex.org/W2148823327","https://openalex.org/W2167536584","https://openalex.org/W2171792626","https://openalex.org/W2179022541","https://openalex.org/W2179600242","https://openalex.org/W2314525300","https://openalex.org/W2339491896","https://openalex.org/W2565907224","https://openalex.org/W2567520225","https://openalex.org/W2571050459","https://openalex.org/W2764315368","https://openalex.org/W2780958801","https://openalex.org/W2888380055","https://openalex.org/W2912467480","https://openalex.org/W3187867541","https://openalex.org/W4249074720","https://openalex.org/W4255276933","https://openalex.org/W6637400245"],"related_works":["https://openalex.org/W3199220297","https://openalex.org/W2137769200","https://openalex.org/W2070821970","https://openalex.org/W2032962400","https://openalex.org/W2952608638","https://openalex.org/W1996172652","https://openalex.org/W2911323905","https://openalex.org/W56094667","https://openalex.org/W4249320331","https://openalex.org/W2350761455"],"abstract_inverted_index":{"Robust":[0],"and":[1,6,22,33,130,141,172,216],"accurate":[2],"estimation":[3,37],"of":[4,8,42,52,66,109,201,223],"position":[5],"attitude":[7],"a":[9,72,104,131],"UUV":[10],"(Unmanned":[11],"Underwater":[12],"Vehicle)":[13],"from":[14,160,179,186],"sonar":[15,211],"scans":[16,92,110],"is":[17,77,111,152],"essential":[18],"for":[19,74,84,107],"simultaneous":[20],"localization":[21,65],"mapping":[23],"(SLAM).":[24],"Both":[25],"dead-reckoning":[26],"based":[27,38],"on":[28,39,208],"the":[29,34,40,43,50,53,56,63,67,81,85,90,93,115,119,126,139,146,156,161,165,174,183,187,194,199,209,221,224],"inertial":[30],"navigation":[31],"system":[32,196],"motion":[35],"parameter":[36],"registration":[41,120],"ultrasound":[44],"scan":[45,203],"sequence":[46],"can":[47],"contribute":[48],"to":[49,61,113,137,154,197],"performance":[51],"system.":[54],"However,":[55],"rapidly-growing":[57],"accumulated":[58,82],"error":[59,83],"tends":[60],"counteract":[62],"precise":[64],"vehicle.":[68],"In":[69,118],"this":[70],"paper,":[71],"method":[73],"loop-closure":[75,158,184,226],"detection":[76,227],"proposed":[78,225],"that":[79],"adjusts":[80],"underwater":[86,94,218],"acoustic":[87],"SLAM":[88],"when":[89],"vehicle":[91],"environment":[95],"using":[96],"an":[97],"Mechanical":[98],"Scanning":[99],"Imaging":[100],"Sonar":[101],"(MSIS).":[102],"Firstly,":[103],"similarity":[105,162],"matrix":[106],"pairs":[108],"constructed":[112],"represent":[114],"loop-closing":[116,176,189],"tracks.":[117],"step,":[121],"two":[122],"novel":[123],"features,":[124],"namely":[125],"intensity":[127],"projection":[128],"histograms":[129],"polar":[132],"gradient":[133],"matrix,":[134,163],"are":[135,191],"extracted":[136],"calculate":[138],"translational":[140],"rotational":[142],"parameters":[143],"respectively.":[144],"Secondly,":[145],"probability":[147],"hypothesis":[148],"density":[149],"(PHD)":[150],"filter":[151],"used":[153],"extract":[155],"possible":[157],"constraints":[159,185],"removing":[164],"random":[166],"noise":[167],"brought":[168],"by":[169,204],"accidental":[170],"correlation":[171],"refining":[173],"concurrent":[175],"tracks":[177,190],"resulted":[178],"long-range":[180],"scanning.":[181],"Lastly,":[182],"refined":[188],"fed":[192],"into":[193],"GraphSLAM":[195],"adjust":[198],"pose":[200],"each":[202],"constraint":[205],"optimization.":[206],"Experiments":[207],"MSIS":[210],"images":[212],"collected":[213],"in":[214],"structured":[215],"unstructured":[217],"environments":[219],"validate":[220],"effectiveness":[222],"method.":[228]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":2},{"year":2023,"cited_by_count":2},{"year":2022,"cited_by_count":3},{"year":2021,"cited_by_count":1}],"updated_date":"2026-05-06T08:25:59.206177","created_date":"2025-10-10T00:00:00"}
