{"id":"https://openalex.org/W4406610487","doi":"https://doi.org/10.1109/access.2025.3532299","title":"Benchmarking Vision-Based Object Tracking for USVs in Complex Maritime Environments","display_name":"Benchmarking Vision-Based Object Tracking for USVs in Complex Maritime Environments","publication_year":2025,"publication_date":"2025-01-01","ids":{"openalex":"https://openalex.org/W4406610487","doi":"https://doi.org/10.1109/access.2025.3532299"},"language":"en","primary_location":{"id":"doi:10.1109/access.2025.3532299","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2025.3532299","pdf_url":null,"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://doi.org/10.1109/access.2025.3532299","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5113875884","display_name":"Muhayy Ud Din","orcid":"https://orcid.org/0000-0001-6214-1077"},"institutions":[{"id":"https://openalex.org/I176601375","display_name":"Khalifa University of Science and Technology","ror":"https://ror.org/05hffr360","country_code":"AE","type":"education","lineage":["https://openalex.org/I176601375"]}],"countries":["AE"],"is_corresponding":true,"raw_author_name":"Muhayy Ud Din","raw_affiliation_strings":["Khalifa University Center for Autonomous Robotic Systems (KUCARS), Khalifa University, Abu Dhabi, United Arab Emirates","Khalifa University Center for Autonomous Robotic Systems (KUCARS), Abu Dhabi, UAE"],"raw_orcid":"https://orcid.org/0000-0001-6214-1077","affiliations":[{"raw_affiliation_string":"Khalifa University Center for Autonomous Robotic Systems (KUCARS), Khalifa University, Abu Dhabi, United Arab Emirates","institution_ids":["https://openalex.org/I176601375"]},{"raw_affiliation_string":"Khalifa University Center for Autonomous Robotic Systems (KUCARS), Abu Dhabi, UAE","institution_ids":["https://openalex.org/I176601375"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5035672070","display_name":"Ahsan Baidar Bakht","orcid":"https://orcid.org/0000-0002-9079-0960"},"institutions":[{"id":"https://openalex.org/I176601375","display_name":"Khalifa University of Science and Technology","ror":"https://ror.org/05hffr360","country_code":"AE","type":"education","lineage":["https://openalex.org/I176601375"]}],"countries":["AE"],"is_corresponding":false,"raw_author_name":"Ahsan Baidar Bakht","raw_affiliation_strings":["Khalifa University Center for Autonomous Robotic Systems (KUCARS), Khalifa University, Abu Dhabi, United Arab Emirates","Khalifa University Center for Autonomous Robotic Systems (KUCARS), Abu Dhabi, UAE"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Khalifa University Center for Autonomous Robotic Systems (KUCARS), Khalifa University, Abu Dhabi, United Arab Emirates","institution_ids":["https://openalex.org/I176601375"]},{"raw_affiliation_string":"Khalifa University Center for Autonomous Robotic Systems (KUCARS), Abu Dhabi, UAE","institution_ids":["https://openalex.org/I176601375"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5009589766","display_name":"Waseem Akram","orcid":"https://orcid.org/0000-0002-7401-5120"},"institutions":[{"id":"https://openalex.org/I176601375","display_name":"Khalifa University of Science and Technology","ror":"https://ror.org/05hffr360","country_code":"AE","type":"education","lineage":["https://openalex.org/I176601375"]}],"countries":["AE"],"is_corresponding":false,"raw_author_name":"Waseem Akram","raw_affiliation_strings":["Khalifa University Center for Autonomous Robotic Systems (KUCARS), Khalifa University, Abu Dhabi, United Arab Emirates","Khalifa University Center for Autonomous Robotic Systems (KUCARS), Abu Dhabi, UAE"],"raw_orcid":"https://orcid.org/0000-0002-7401-5120","affiliations":[{"raw_affiliation_string":"Khalifa University Center for Autonomous Robotic Systems (KUCARS), Khalifa University, Abu Dhabi, United Arab Emirates","institution_ids":["https://openalex.org/I176601375"]},{"raw_affiliation_string":"Khalifa University Center for Autonomous Robotic Systems (KUCARS), Abu Dhabi, UAE","institution_ids":["https://openalex.org/I176601375"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5065786226","display_name":"Yihao Dong","orcid":"https://orcid.org/0009-0002-8329-1810"},"institutions":[{"id":"https://openalex.org/I176601375","display_name":"Khalifa University of Science and Technology","ror":"https://ror.org/05hffr360","country_code":"AE","type":"education","lineage":["https://openalex.org/I176601375"]}],"countries":["AE"],"is_corresponding":false,"raw_author_name":"Yihao Dong","raw_affiliation_strings":["Khalifa University Center for Autonomous Robotic Systems (KUCARS), Khalifa University, Abu Dhabi, United Arab Emirates","Khalifa University Center for Autonomous Robotic Systems (KUCARS), Abu Dhabi, UAE"],"raw_orcid":"https://orcid.org/0009-0002-8329-1810","affiliations":[{"raw_affiliation_string":"Khalifa University Center for Autonomous Robotic Systems (KUCARS), Khalifa University, Abu Dhabi, United Arab Emirates","institution_ids":["https://openalex.org/I176601375"]},{"raw_affiliation_string":"Khalifa University Center for Autonomous Robotic Systems (KUCARS), Abu Dhabi, UAE","institution_ids":["https://openalex.org/I176601375"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5074862138","display_name":"Lakmal Seneviratne","orcid":"https://orcid.org/0000-0001-6405-8402"},"institutions":[{"id":"https://openalex.org/I176601375","display_name":"Khalifa University of Science and Technology","ror":"https://ror.org/05hffr360","country_code":"AE","type":"education","lineage":["https://openalex.org/I176601375"]}],"countries":["AE"],"is_corresponding":false,"raw_author_name":"Lakmal Seneviratne","raw_affiliation_strings":["Khalifa University Center for Autonomous Robotic Systems (KUCARS), Khalifa University, Abu Dhabi, United Arab Emirates","Khalifa University Center for Autonomous Robotic Systems (KUCARS), Abu Dhabi, UAE"],"raw_orcid":"https://orcid.org/0000-0001-6405-8402","affiliations":[{"raw_affiliation_string":"Khalifa University Center for Autonomous Robotic Systems (KUCARS), Khalifa University, Abu Dhabi, United Arab Emirates","institution_ids":["https://openalex.org/I176601375"]},{"raw_affiliation_string":"Khalifa University Center for Autonomous Robotic Systems (KUCARS), Abu Dhabi, UAE","institution_ids":["https://openalex.org/I176601375"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5023802518","display_name":"Irfan Hussain","orcid":"https://orcid.org/0000-0003-2759-0306"},"institutions":[{"id":"https://openalex.org/I176601375","display_name":"Khalifa University of Science and Technology","ror":"https://ror.org/05hffr360","country_code":"AE","type":"education","lineage":["https://openalex.org/I176601375"]}],"countries":["AE"],"is_corresponding":false,"raw_author_name":"Irfan Hussain","raw_affiliation_strings":["Khalifa University Center for Autonomous Robotic Systems (KUCARS), Khalifa University, Abu Dhabi, United Arab Emirates","Khalifa University Center for Autonomous Robotic Systems (KUCARS), Abu Dhabi, UAE"],"raw_orcid":"https://orcid.org/0000-0003-2759-0306","affiliations":[{"raw_affiliation_string":"Khalifa University Center for Autonomous Robotic Systems (KUCARS), Khalifa University, Abu Dhabi, United Arab Emirates","institution_ids":["https://openalex.org/I176601375"]},{"raw_affiliation_string":"Khalifa University Center for Autonomous Robotic Systems (KUCARS), Abu Dhabi, UAE","institution_ids":["https://openalex.org/I176601375"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":6,"corresponding_author_ids":["https://openalex.org/A5113875884"],"corresponding_institution_ids":["https://openalex.org/I176601375"],"apc_list":{"value":1850,"currency":"USD","value_usd":1850},"apc_paid":{"value":1850,"currency":"USD","value_usd":1850},"fwci":4.9042,"has_fulltext":false,"cited_by_count":5,"citation_normalized_percentile":{"value":0.93961889,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":96,"max":99},"biblio":{"volume":"13","issue":null,"first_page":"15014","last_page":"15027"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11622","display_name":"Maritime Navigation and Safety","score":0.8824999928474426,"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/T11622","display_name":"Maritime Navigation and Safety","score":0.8824999928474426,"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/T12389","display_name":"Infrared Target Detection Methodologies","score":0.8352000117301941,"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/T12316","display_name":"Oil Spill Detection and Mitigation","score":0.835099995136261,"subfield":{"id":"https://openalex.org/subfields/2310","display_name":"Pollution"},"field":{"id":"https://openalex.org/fields/23","display_name":"Environmental Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/benchmarking","display_name":"Benchmarking","score":0.8478902578353882},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6528282165527344},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.5292353630065918},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5167112350463867},{"id":"https://openalex.org/keywords/tracking","display_name":"Tracking (education)","score":0.4256639778614044},{"id":"https://openalex.org/keywords/object","display_name":"Object (grammar)","score":0.4134077727794647},{"id":"https://openalex.org/keywords/business","display_name":"Business","score":0.07860255241394043}],"concepts":[{"id":"https://openalex.org/C86251818","wikidata":"https://www.wikidata.org/wiki/Q816754","display_name":"Benchmarking","level":2,"score":0.8478902578353882},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6528282165527344},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.5292353630065918},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5167112350463867},{"id":"https://openalex.org/C2775936607","wikidata":"https://www.wikidata.org/wiki/Q466845","display_name":"Tracking (education)","level":2,"score":0.4256639778614044},{"id":"https://openalex.org/C2781238097","wikidata":"https://www.wikidata.org/wiki/Q175026","display_name":"Object (grammar)","level":2,"score":0.4134077727794647},{"id":"https://openalex.org/C144133560","wikidata":"https://www.wikidata.org/wiki/Q4830453","display_name":"Business","level":0,"score":0.07860255241394043},{"id":"https://openalex.org/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"score":0.0},{"id":"https://openalex.org/C19417346","wikidata":"https://www.wikidata.org/wiki/Q7922","display_name":"Pedagogy","level":1,"score":0.0},{"id":"https://openalex.org/C162853370","wikidata":"https://www.wikidata.org/wiki/Q39809","display_name":"Marketing","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/access.2025.3532299","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2025.3532299","pdf_url":null,"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:fa50fc60829548cfbe9484610cb5a804","is_oa":true,"landing_page_url":"https://doaj.org/article/fa50fc60829548cfbe9484610cb5a804","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 13, Pp 15014-15027 (2025)","raw_type":"article"}],"best_oa_location":{"id":"doi:10.1109/access.2025.3532299","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2025.3532299","pdf_url":null,"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":[],"awards":[{"id":"https://openalex.org/G4754948499","display_name":null,"funder_award_id":"KU-Stanford:8474000605","funder_id":"https://openalex.org/F4320322334","funder_display_name":"Khalifa University of Science, Technology and Research"},{"id":"https://openalex.org/G5132392512","display_name":null,"funder_award_id":"RC1-2018-KUCARS","funder_id":"https://openalex.org/F4320326160","funder_display_name":"Charotar University of Science and Technology"},{"id":"https://openalex.org/G5901463608","display_name":null,"funder_award_id":"8434000534","funder_id":"https://openalex.org/F4320322334","funder_display_name":"Khalifa University of Science, Technology and Research"},{"id":"https://openalex.org/G648140960","display_name":null,"funder_award_id":"RC1-2018-KUCARS","funder_id":"https://openalex.org/F4320322334","funder_display_name":"Khalifa University of Science, Technology and Research"},{"id":"https://openalex.org/G7517178402","display_name":null,"funder_award_id":"CIRA-2021-085","funder_id":"https://openalex.org/F4320322334","funder_display_name":"Khalifa University of Science, Technology and Research"},{"id":"https://openalex.org/G8096960495","display_name":null,"funder_award_id":"8434000534","funder_id":"https://openalex.org/F4320326160","funder_display_name":"Charotar University of Science and Technology"},{"id":"https://openalex.org/G8934127366","display_name":null,"funder_award_id":"CIRA-2021-085","funder_id":"https://openalex.org/F4320326160","funder_display_name":"Charotar University of Science and Technology"},{"id":"https://openalex.org/G915375186","display_name":null,"funder_award_id":"8474000605","funder_id":"https://openalex.org/F4320326160","funder_display_name":"Charotar University of Science and Technology"}],"funders":[{"id":"https://openalex.org/F4320322334","display_name":"Khalifa University of Science, Technology and Research","ror":"https://ror.org/05hffr360"},{"id":"https://openalex.org/F4320326160","display_name":"Charotar University of Science and Technology","ror":"https://ror.org/0442pkv24"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":34,"referenced_works":["https://openalex.org/W1995903777","https://openalex.org/W2252355370","https://openalex.org/W2470394683","https://openalex.org/W2575176544","https://openalex.org/W2625645788","https://openalex.org/W2766277380","https://openalex.org/W2799058067","https://openalex.org/W2892742603","https://openalex.org/W2913393332","https://openalex.org/W2946189871","https://openalex.org/W2966759264","https://openalex.org/W3001584168","https://openalex.org/W3043983213","https://openalex.org/W3049234288","https://openalex.org/W3124211960","https://openalex.org/W3157950181","https://openalex.org/W3200599349","https://openalex.org/W3214586131","https://openalex.org/W4205719122","https://openalex.org/W4225007739","https://openalex.org/W4244783792","https://openalex.org/W4280530280","https://openalex.org/W4309535507","https://openalex.org/W4312651496","https://openalex.org/W4312805142","https://openalex.org/W4318162656","https://openalex.org/W4368233276","https://openalex.org/W4386066081","https://openalex.org/W4386427162","https://openalex.org/W4389665656","https://openalex.org/W4391422742","https://openalex.org/W4394597470","https://openalex.org/W6703477647","https://openalex.org/W7067563257"],"related_works":["https://openalex.org/W2772917594","https://openalex.org/W2036807459","https://openalex.org/W2058170566","https://openalex.org/W2755342338","https://openalex.org/W2166024367","https://openalex.org/W3116076068","https://openalex.org/W2229312674","https://openalex.org/W2951359407","https://openalex.org/W2079911747","https://openalex.org/W1969923398"],"abstract_inverted_index":{"Vision-based":[0],"target":[1],"tracking":[2,21,68,91,97,106,155,214],"is":[3,26,79],"crucial":[4],"for":[5,49,93,212],"unmanned":[6],"surface":[7],"vehicles":[8],"(USVs)":[9],"to":[10,29,103],"perform":[11],"tasks":[12],"such":[13,125,189],"as":[14,126,190],"inspection,":[15],"monitoring,":[16],"and":[17,35,63,129,137,164,208,219],"surveillance.":[18],"However,":[19],"real-time":[20],"in":[22,57,76,107,151,171,186],"complex":[23],"maritime":[24,77,109,139,174],"environments":[25],"challenging":[27],"due":[28],"dynamic":[30,108,173],"camera":[31,61],"movement,":[32],"low":[33],"visibility,":[34],"scale":[36],"variation.":[37],"Typically,":[38],"object":[39,90],"detection":[40],"methods":[41,69],"combined":[42],"with":[43,99,153],"filtering":[44],"techniques":[45,124],"are":[46],"commonly":[47],"used":[48],"tracking,":[50],"but":[51],"they":[52],"often":[53],"lack":[54],"robustness,":[55],"particularly":[56],"the":[58,113,145,194,198,205,216],"presence":[59],"of":[60,115,147,215],"motion":[62],"missed":[64],"detections.":[65],"Although":[66],"advanced":[67,121],"have":[70],"been":[71],"proposed":[72,158],"recently,":[73],"their":[74],"application":[75],"scenarios":[78],"limited.":[80],"To":[81],"address":[82],"this":[83,85],"gap,":[84],"study":[86],"proposes":[87],"a":[88,181],"vision-guided":[89],"framework":[92,159],"USVs,":[94],"integrating":[95],"state-of-the-art":[96],"algorithms":[98,150,196],"low-level":[100],"control":[101,149,195],"systems":[102],"enable":[104],"precise":[105],"environments.":[110],"We":[111],"benchmarked":[112],"performance":[114],"seven":[116],"distinct":[117],"trackers,":[118],"developed":[119],"using":[120],"deep":[122],"learning":[123],"Siamese":[127],"Networks":[128],"Transformers,":[130],"by":[131],"evaluating":[132],"them":[133],"on":[134],"both":[135],"simulated":[136],"real-world":[138,165],"datasets.":[140],"In":[141],"addition,":[142],"we":[143],"evaluated":[144],"robustness":[146],"various":[148],"conjunction":[152],"these":[154],"systems.":[156],"The":[157,176],"was":[160],"validated":[161],"through":[162],"simulations":[163],"sea":[166],"experiments,":[167],"demonstrating":[168],"its":[169],"effectiveness":[170],"handling":[172],"conditions.":[175],"results":[177],"show":[178],"that":[179],"SeqTrack,":[180],"Transformer-based":[182],"tracker,":[183],"performed":[184],"best":[185],"adverse":[187],"conditions,":[188],"dust":[191],"storms.":[192],"Among":[193],"evaluated,":[197],"linear":[199],"quadratic":[200],"regulator":[201],"controller":[202],"(LQR)":[203],"demonstrated":[204],"most":[206],"robust":[207],"smooth":[209],"control,":[210],"allowing":[211],"stable":[213],"USV.":[217],"Videos":[218],"code":[220],"can":[221],"be":[222],"found":[223],"here:":[224],"<uri":[225],"xmlns:mml=\"http://www.w3.org/1998/Math/MathML\"":[226],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">https://muhayyuddin.github.io/tracking/</uri>.":[227]},"counts_by_year":[{"year":2026,"cited_by_count":2},{"year":2025,"cited_by_count":3}],"updated_date":"2026-05-06T08:25:59.206177","created_date":"2025-10-10T00:00:00"}
