{"id":"https://openalex.org/W4225743514","doi":"https://doi.org/10.1109/access.2022.3160190","title":"Bathymetric Pose Graph Optimization With Regularized Submap Matching","display_name":"Bathymetric Pose Graph Optimization With Regularized Submap Matching","publication_year":2022,"publication_date":"2022-01-01","ids":{"openalex":"https://openalex.org/W4225743514","doi":"https://doi.org/10.1109/access.2022.3160190"},"language":"en","primary_location":{"id":"doi:10.1109/access.2022.3160190","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2022.3160190","pdf_url":"https://ieeexplore.ieee.org/ielx7/6287639/9668973/09737125.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/ielx7/6287639/9668973/09737125.pdf","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5011270087","display_name":"Jongdae Jung","orcid":"https://orcid.org/0000-0001-6591-213X"},"institutions":[{"id":"https://openalex.org/I4399657955","display_name":"Korea Research Institute of Ships and Ocean Engineering","ror":"https://ror.org/0046ap498","country_code":null,"type":"funder","lineage":["https://openalex.org/I4399657955"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Jongdae Jung","raw_affiliation_strings":["Autonomous and Intelligent Maritime Systems Research Division (AIMS), Korea Research Institute of Ships and Ocean Engineering (KRISO), Daejeon, South Korea"],"raw_orcid":"https://orcid.org/0000-0001-6591-213X","affiliations":[{"raw_affiliation_string":"Autonomous and Intelligent Maritime Systems Research Division (AIMS), Korea Research Institute of Ships and Ocean Engineering (KRISO), Daejeon, South Korea","institution_ids":["https://openalex.org/I4399657955"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5084139833","display_name":"Jeonghong Park","orcid":"https://orcid.org/0000-0001-7628-0238"},"institutions":[{"id":"https://openalex.org/I4399657955","display_name":"Korea Research Institute of Ships and Ocean Engineering","ror":"https://ror.org/0046ap498","country_code":null,"type":"funder","lineage":["https://openalex.org/I4399657955"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Jeonghong Park","raw_affiliation_strings":["Autonomous and Intelligent Maritime Systems Research Division (AIMS), Korea Research Institute of Ships and Ocean Engineering (KRISO), Daejeon, South Korea"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Autonomous and Intelligent Maritime Systems Research Division (AIMS), Korea Research Institute of Ships and Ocean Engineering (KRISO), Daejeon, South Korea","institution_ids":["https://openalex.org/I4399657955"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101690727","display_name":"Jinwoo Choi","orcid":"https://orcid.org/0000-0001-7122-4309"},"institutions":[{"id":"https://openalex.org/I4399657955","display_name":"Korea Research Institute of Ships and Ocean Engineering","ror":"https://ror.org/0046ap498","country_code":null,"type":"funder","lineage":["https://openalex.org/I4399657955"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Jinwoo Choi","raw_affiliation_strings":["Autonomous and Intelligent Maritime Systems Research Division (AIMS), Korea Research Institute of Ships and Ocean Engineering (KRISO), Daejeon, South Korea"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Autonomous and Intelligent Maritime Systems Research Division (AIMS), Korea Research Institute of Ships and Ocean Engineering (KRISO), Daejeon, South Korea","institution_ids":["https://openalex.org/I4399657955"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5023099643","display_name":"Hyun\u2010Taek Choi","orcid":"https://orcid.org/0000-0002-1433-1957"},"institutions":[{"id":"https://openalex.org/I4399657955","display_name":"Korea Research Institute of Ships and Ocean Engineering","ror":"https://ror.org/0046ap498","country_code":null,"type":"funder","lineage":["https://openalex.org/I4399657955"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Hyun-Taek Choi","raw_affiliation_strings":["Autonomous and Intelligent Maritime Systems Research Division (AIMS), Korea Research Institute of Ships and Ocean Engineering (KRISO), Daejeon, South Korea"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Autonomous and Intelligent Maritime Systems Research Division (AIMS), Korea Research Institute of Ships and Ocean Engineering (KRISO), Daejeon, South Korea","institution_ids":["https://openalex.org/I4399657955"]}]}],"institutions":[],"countries_distinct_count":0,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I4399657955"],"apc_list":{"value":1850,"currency":"USD","value_usd":1850},"apc_paid":{"value":1850,"currency":"USD","value_usd":1850},"fwci":5.0791,"has_fulltext":true,"cited_by_count":11,"citation_normalized_percentile":{"value":0.94686183,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":98},"biblio":{"volume":"10","issue":null,"first_page":"31155","last_page":"31164"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9998000264167786,"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":0.9998000264167786,"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":0.9990000128746033,"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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9923999905586243,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/sonar","display_name":"Sonar","score":0.7854303121566772},{"id":"https://openalex.org/keywords/bathymetry","display_name":"Bathymetry","score":0.738202691078186},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6980340480804443},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.6587978601455688},{"id":"https://openalex.org/keywords/ground-truth","display_name":"Ground truth","score":0.6333225965499878},{"id":"https://openalex.org/keywords/pose","display_name":"Pose","score":0.557511031627655},{"id":"https://openalex.org/keywords/simultaneous-localization-and-mapping","display_name":"Simultaneous localization and mapping","score":0.5552475452423096},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5520673990249634},{"id":"https://openalex.org/keywords/maxima-and-minima","display_name":"Maxima and minima","score":0.5278080701828003},{"id":"https://openalex.org/keywords/graph","display_name":"Graph","score":0.5029341578483582},{"id":"https://openalex.org/keywords/iterative-closest-point","display_name":"Iterative closest point","score":0.47981762886047363},{"id":"https://openalex.org/keywords/underwater","display_name":"Underwater","score":0.4768620431423187},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.47080883383750916},{"id":"https://openalex.org/keywords/geology","display_name":"Geology","score":0.4692608714103699},{"id":"https://openalex.org/keywords/matching","display_name":"Matching (statistics)","score":0.43137598037719727},{"id":"https://openalex.org/keywords/remotely-operated-underwater-vehicle","display_name":"Remotely operated underwater vehicle","score":0.4182016849517822},{"id":"https://openalex.org/keywords/remote-sensing","display_name":"Remote sensing","score":0.36572566628456116},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.3603721261024475},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.3121252954006195},{"id":"https://openalex.org/keywords/point-cloud","display_name":"Point cloud","score":0.26864320039749146},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.16809675097465515}],"concepts":[{"id":"https://openalex.org/C555745239","wikidata":"https://www.wikidata.org/wiki/Q133220","display_name":"Sonar","level":2,"score":0.7854303121566772},{"id":"https://openalex.org/C174943157","wikidata":"https://www.wikidata.org/wiki/Q810826","display_name":"Bathymetry","level":2,"score":0.738202691078186},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6980340480804443},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.6587978601455688},{"id":"https://openalex.org/C146849305","wikidata":"https://www.wikidata.org/wiki/Q370766","display_name":"Ground truth","level":2,"score":0.6333225965499878},{"id":"https://openalex.org/C52102323","wikidata":"https://www.wikidata.org/wiki/Q1671968","display_name":"Pose","level":2,"score":0.557511031627655},{"id":"https://openalex.org/C86369673","wikidata":"https://www.wikidata.org/wiki/Q1203659","display_name":"Simultaneous localization and mapping","level":4,"score":0.5552475452423096},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5520673990249634},{"id":"https://openalex.org/C186633575","wikidata":"https://www.wikidata.org/wiki/Q845060","display_name":"Maxima and minima","level":2,"score":0.5278080701828003},{"id":"https://openalex.org/C132525143","wikidata":"https://www.wikidata.org/wiki/Q141488","display_name":"Graph","level":2,"score":0.5029341578483582},{"id":"https://openalex.org/C195958017","wikidata":"https://www.wikidata.org/wiki/Q1675268","display_name":"Iterative closest point","level":3,"score":0.47981762886047363},{"id":"https://openalex.org/C98083399","wikidata":"https://www.wikidata.org/wiki/Q3246517","display_name":"Underwater","level":2,"score":0.4768620431423187},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.47080883383750916},{"id":"https://openalex.org/C127313418","wikidata":"https://www.wikidata.org/wiki/Q1069","display_name":"Geology","level":0,"score":0.4692608714103699},{"id":"https://openalex.org/C165064840","wikidata":"https://www.wikidata.org/wiki/Q1321061","display_name":"Matching (statistics)","level":2,"score":0.43137598037719727},{"id":"https://openalex.org/C145424490","wikidata":"https://www.wikidata.org/wiki/Q618465","display_name":"Remotely operated underwater vehicle","level":4,"score":0.4182016849517822},{"id":"https://openalex.org/C62649853","wikidata":"https://www.wikidata.org/wiki/Q199687","display_name":"Remote sensing","level":1,"score":0.36572566628456116},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.3603721261024475},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.3121252954006195},{"id":"https://openalex.org/C131979681","wikidata":"https://www.wikidata.org/wiki/Q1899648","display_name":"Point cloud","level":2,"score":0.26864320039749146},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.16809675097465515},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C80444323","wikidata":"https://www.wikidata.org/wiki/Q2878974","display_name":"Theoretical computer science","level":1,"score":0.0},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.0},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","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":2,"locations":[{"id":"doi:10.1109/access.2022.3160190","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2022.3160190","pdf_url":"https://ieeexplore.ieee.org/ielx7/6287639/9668973/09737125.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:b6d4739b44934e908f46e2ca83947ce9","is_oa":true,"landing_page_url":"https://doaj.org/article/b6d4739b44934e908f46e2ca83947ce9","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 10, Pp 31155-31164 (2022)","raw_type":"article"}],"best_oa_location":{"id":"doi:10.1109/access.2022.3160190","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2022.3160190","pdf_url":"https://ieeexplore.ieee.org/ielx7/6287639/9668973/09737125.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":[{"score":0.8299999833106995,"display_name":"Life below water","id":"https://metadata.un.org/sdg/14"}],"awards":[{"id":"https://openalex.org/G3596905502","display_name":null,"funder_award_id":"PES4370","funder_id":"https://openalex.org/F4320328008","funder_display_name":"Korea Research Institute of Ships and Ocean Engineering"}],"funders":[{"id":"https://openalex.org/F4320328008","display_name":"Korea Research Institute of Ships and Ocean Engineering","ror":null}],"has_content":{"grobid_xml":true,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W4225743514.pdf","grobid_xml":"https://content.openalex.org/works/W4225743514.grobid-xml"},"referenced_works_count":26,"referenced_works":["https://openalex.org/W47828604","https://openalex.org/W1416150803","https://openalex.org/W1583808776","https://openalex.org/W1745618468","https://openalex.org/W1965085701","https://openalex.org/W1983879820","https://openalex.org/W2008090244","https://openalex.org/W2040697853","https://openalex.org/W2042743109","https://openalex.org/W2049981393","https://openalex.org/W2060083402","https://openalex.org/W2063549868","https://openalex.org/W2072723786","https://openalex.org/W2139037949","https://openalex.org/W2152864241","https://openalex.org/W2153054365","https://openalex.org/W2210716217","https://openalex.org/W2766073946","https://openalex.org/W3003343875","https://openalex.org/W3007611725","https://openalex.org/W4230323367","https://openalex.org/W4230546494","https://openalex.org/W4249074720","https://openalex.org/W4249866455","https://openalex.org/W4285053689","https://openalex.org/W6756486208"],"related_works":["https://openalex.org/W2071768959","https://openalex.org/W4319442894","https://openalex.org/W3199220297","https://openalex.org/W2137769200","https://openalex.org/W2070821970","https://openalex.org/W2102288430","https://openalex.org/W2091861768","https://openalex.org/W2228459732","https://openalex.org/W3048240333","https://openalex.org/W4395662203"],"abstract_inverted_index":{"The":[0,122],"quality":[1],"of":[2,15,41,48,124],"sonar":[3,33,141],"seabed":[4],"mapping":[5],"performed":[6],"using":[7,132],"autonomous":[8],"underwater":[9,147],"vehicles":[10,148],"depends":[11],"on":[12],"the":[13,16,22,39,46,49,58,68,75,88,92,96,108,125,137,146],"accuracy":[14],"vehicle":[17],"trajectory":[18],"estimation.":[19],"To":[20,82],"reduce":[21],"accumulated":[23],"pose":[24,42,59,109],"estimation":[25],"errors":[26],"from":[27,32,71],"dead":[28],"reckoning,":[29],"bathymetry":[30],"observations":[31],"sensors":[34],"are":[35,51,149],"often":[36],"exploited":[37],"within":[38],"framework":[40],"graph":[43,60,110],"optimization,":[44],"while":[45],"submaps":[47,69],"seafloor":[50,76],"used":[52,144],"to":[53,57,90,153],"add":[54],"loop-closure":[55],"constraints":[56],"by":[61],"iterative":[62],"closest":[63],"point.":[64],"However,":[65],"matching":[66,103],"with":[67],"suffers":[70],"local":[72],"minima":[73],"because":[74],"is":[77,128],"mostly":[78],"flat":[79],"and":[80,117,140],"featureless.":[81],"resolve":[83],"this":[84],"issue,":[85],"we":[86,100],"regularized":[87],"sub-maps":[89],"enhance":[91],"spatial":[93],"variations":[94],"in":[95,114,145,151],"vertical":[97],"direction;":[98],"thus,":[99],"realized":[101],"improved":[102],"accuracy.":[104],"Given":[105],"these":[106],"constraints,":[107],"can":[111],"be":[112],"optimized":[113],"real":[115],"time":[116],"provide":[118],"a":[119,133,154],"corrected":[120],"trajectory.":[121],"performance":[123],"proposed":[126],"method":[127],"validated":[129],"through":[130],"experiments":[131],"surface":[134],"vessel":[135],"where":[136],"same":[138],"navigation":[139],"systems":[142],"as":[143],"installed,":[150],"addition":[152],"GPS":[155],"receiver":[156],"for":[157],"ground":[158],"truth":[159],"acquisition.":[160]},"counts_by_year":[{"year":2026,"cited_by_count":2},{"year":2025,"cited_by_count":4},{"year":2024,"cited_by_count":3},{"year":2023,"cited_by_count":1},{"year":2022,"cited_by_count":1}],"updated_date":"2026-08-12T21:12:35.861297","created_date":"2025-10-10T00:00:00"}