{"id":"https://openalex.org/W7124154508","doi":"https://doi.org/10.1109/access.2026.3654109","title":"Active Fiducial Marker-Based Precise Underwater Positioning System for Industrial and Robotics Applications","display_name":"Active Fiducial Marker-Based Precise Underwater Positioning System for Industrial and Robotics Applications","publication_year":2026,"publication_date":"2026-01-01","ids":{"openalex":"https://openalex.org/W7124154508","doi":"https://doi.org/10.1109/access.2026.3654109"},"language":null,"primary_location":{"id":"doi:10.1109/access.2026.3654109","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2026.3654109","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.2026.3654109","any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5031371856","display_name":"Young-woon Song","orcid":"https://orcid.org/0000-0001-9861-397X"},"institutions":[{"id":"https://openalex.org/I123900574","display_name":"Pohang University of Science and Technology","ror":"https://ror.org/04xysgw12","country_code":"KR","type":"education","lineage":["https://openalex.org/I123900574"]}],"countries":["KR"],"is_corresponding":true,"raw_author_name":"Young-Woon Song","raw_affiliation_strings":["Department of Convergence IT Engineering, Pohang University of Science and Technology (POSTECH), Pohang, South Korea"],"affiliations":[{"raw_affiliation_string":"Department of Convergence IT Engineering, Pohang University of Science and Technology (POSTECH), Pohang, South Korea","institution_ids":["https://openalex.org/I123900574"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5108740659","display_name":"Dongsub Kim","orcid":null},"institutions":[{"id":"https://openalex.org/I123900574","display_name":"Pohang University of Science and Technology","ror":"https://ror.org/04xysgw12","country_code":"KR","type":"education","lineage":["https://openalex.org/I123900574"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Dongsub Kim","raw_affiliation_strings":["Department of Convergence IT Engineering, Pohang University of Science and Technology (POSTECH), Pohang, South Korea"],"affiliations":[{"raw_affiliation_string":"Department of Convergence IT Engineering, Pohang University of Science and Technology (POSTECH), Pohang, South Korea","institution_ids":["https://openalex.org/I123900574"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5122993095","display_name":"Bonchul Ku","orcid":null},"institutions":[{"id":"https://openalex.org/I123900574","display_name":"Pohang University of Science and Technology","ror":"https://ror.org/04xysgw12","country_code":"KR","type":"education","lineage":["https://openalex.org/I123900574"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Bonchul Ku","raw_affiliation_strings":["Department of Convergence IT Engineering, Pohang University of Science and Technology (POSTECH), Pohang, South Korea"],"affiliations":[{"raw_affiliation_string":"Department of Convergence IT Engineering, Pohang University of Science and Technology (POSTECH), Pohang, South Korea","institution_ids":["https://openalex.org/I123900574"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5123006319","display_name":"Woojin Seol","orcid":null},"institutions":[{"id":"https://openalex.org/I198972184","display_name":"Korea Electric Power Corporation (South Korea)","ror":"https://ror.org/04fperw70","country_code":"KR","type":"company","lineage":["https://openalex.org/I198972184"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Woojin Seol","raw_affiliation_strings":["Advanced Technology &#x0026; Innovation Center, Central Research Institute, Korea Hydro &#x0026; Nuclear Power Company Ltd., Daejeon, South Korea"],"affiliations":[{"raw_affiliation_string":"Advanced Technology &#x0026; Innovation Center, Central Research Institute, Korea Hydro &#x0026; Nuclear Power Company Ltd., Daejeon, South Korea","institution_ids":["https://openalex.org/I198972184"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5104081226","display_name":"Son-Cheol Yu","orcid":null},"institutions":[{"id":"https://openalex.org/I123900574","display_name":"Pohang University of Science and Technology","ror":"https://ror.org/04xysgw12","country_code":"KR","type":"education","lineage":["https://openalex.org/I123900574"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Son-Cheol Yu","raw_affiliation_strings":["Department of Convergence IT Engineering, Pohang University of Science and Technology (POSTECH), Pohang, South Korea"],"affiliations":[{"raw_affiliation_string":"Department of Convergence IT Engineering, Pohang University of Science and Technology (POSTECH), Pohang, South Korea","institution_ids":["https://openalex.org/I123900574"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5031371856"],"corresponding_institution_ids":["https://openalex.org/I123900574"],"apc_list":{"value":1850,"currency":"USD","value_usd":1850},"apc_paid":{"value":1850,"currency":"USD","value_usd":1850},"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.10339943,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":"14","issue":null,"first_page":"9139","last_page":"9156"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11192","display_name":"Underwater Vehicles and Communication Systems","score":0.9456999897956848,"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":0.9456999897956848,"subfield":{"id":"https://openalex.org/subfields/2212","display_name":"Ocean Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11698","display_name":"Underwater Acoustics Research","score":0.006599999964237213,"subfield":{"id":"https://openalex.org/subfields/1910","display_name":"Oceanography"},"field":{"id":"https://openalex.org/fields/19","display_name":"Earth and Planetary Sciences"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10326","display_name":"Indoor and Outdoor Localization Technologies","score":0.0052999998442828655,"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/fiducial-marker","display_name":"Fiducial marker","score":0.7738999724388123},{"id":"https://openalex.org/keywords/underwater","display_name":"Underwater","score":0.6273000240325928},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5734999775886536},{"id":"https://openalex.org/keywords/positioning-system","display_name":"Positioning system","score":0.49160000681877136},{"id":"https://openalex.org/keywords/global-positioning-system","display_name":"Global Positioning System","score":0.4893999993801117},{"id":"https://openalex.org/keywords/synchronization","display_name":"Synchronization (alternating current)","score":0.44359999895095825},{"id":"https://openalex.org/keywords/simultaneous-localization-and-mapping","display_name":"Simultaneous localization and mapping","score":0.3935000002384186},{"id":"https://openalex.org/keywords/robotics","display_name":"Robotics","score":0.3675000071525574},{"id":"https://openalex.org/keywords/signal","display_name":"SIGNAL (programming language)","score":0.3549000024795532}],"concepts":[{"id":"https://openalex.org/C173974348","wikidata":"https://www.wikidata.org/wiki/Q1469893","display_name":"Fiducial marker","level":2,"score":0.7738999724388123},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.67330002784729},{"id":"https://openalex.org/C98083399","wikidata":"https://www.wikidata.org/wiki/Q3246517","display_name":"Underwater","level":2,"score":0.6273000240325928},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5734999775886536},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5436000227928162},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.4993000030517578},{"id":"https://openalex.org/C2778603505","wikidata":"https://www.wikidata.org/wiki/Q17141406","display_name":"Positioning system","level":3,"score":0.49160000681877136},{"id":"https://openalex.org/C60229501","wikidata":"https://www.wikidata.org/wiki/Q18822","display_name":"Global Positioning System","level":2,"score":0.4893999993801117},{"id":"https://openalex.org/C2778562939","wikidata":"https://www.wikidata.org/wiki/Q1298791","display_name":"Synchronization (alternating current)","level":3,"score":0.44359999895095825},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.43790000677108765},{"id":"https://openalex.org/C86369673","wikidata":"https://www.wikidata.org/wiki/Q1203659","display_name":"Simultaneous localization and mapping","level":4,"score":0.3935000002384186},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.3675000071525574},{"id":"https://openalex.org/C2779843651","wikidata":"https://www.wikidata.org/wiki/Q7390335","display_name":"SIGNAL (programming language)","level":2,"score":0.3549000024795532},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.3546999990940094},{"id":"https://openalex.org/C94915269","wikidata":"https://www.wikidata.org/wiki/Q1834857","display_name":"Detector","level":2,"score":0.34880000352859497},{"id":"https://openalex.org/C163258240","wikidata":"https://www.wikidata.org/wiki/Q25342","display_name":"Power (physics)","level":2,"score":0.3327000141143799},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.32899999618530273},{"id":"https://openalex.org/C184652730","wikidata":"https://www.wikidata.org/wiki/Q2357982","display_name":"Attenuation","level":2,"score":0.30820000171661377},{"id":"https://openalex.org/C145424490","wikidata":"https://www.wikidata.org/wiki/Q618465","display_name":"Remotely operated underwater vehicle","level":4,"score":0.3037000000476837},{"id":"https://openalex.org/C2777486483","wikidata":"https://www.wikidata.org/wiki/Q6026477","display_name":"Indoor positioning system","level":3,"score":0.295199990272522},{"id":"https://openalex.org/C9390403","wikidata":"https://www.wikidata.org/wiki/Q3966","display_name":"Computer hardware","level":1,"score":0.290800005197525},{"id":"https://openalex.org/C2775935494","wikidata":"https://www.wikidata.org/wiki/Q741964","display_name":"Search and rescue","level":3,"score":0.2879999876022339},{"id":"https://openalex.org/C59519942","wikidata":"https://www.wikidata.org/wiki/Q650665","display_name":"Drone","level":2,"score":0.28220000863075256},{"id":"https://openalex.org/C5339829","wikidata":"https://www.wikidata.org/wiki/Q1425977","display_name":"Machine vision","level":2,"score":0.28110000491142273},{"id":"https://openalex.org/C149635348","wikidata":"https://www.wikidata.org/wiki/Q193040","display_name":"Embedded system","level":1,"score":0.27810001373291016},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.2777000069618225},{"id":"https://openalex.org/C42935608","wikidata":"https://www.wikidata.org/wiki/Q190411","display_name":"Field-programmable gate array","level":2,"score":0.25699999928474426},{"id":"https://openalex.org/C555944384","wikidata":"https://www.wikidata.org/wiki/Q249","display_name":"Wireless","level":2,"score":0.25270000100135803},{"id":"https://openalex.org/C62649853","wikidata":"https://www.wikidata.org/wiki/Q199687","display_name":"Remote sensing","level":1,"score":0.25060001015663147}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/access.2026.3654109","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2026.3654109","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"}],"best_oa_location":{"id":"doi:10.1109/access.2026.3654109","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2026.3654109","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/G6206248963","display_name":null,"funder_award_id":"2024-Robot Technology-001","funder_id":"https://openalex.org/F4320330018","funder_display_name":"Korea Hydro and Nuclear Power"}],"funders":[{"id":"https://openalex.org/F4320330018","display_name":"Korea Hydro and Nuclear Power","ror":null}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":28,"referenced_works":["https://openalex.org/W1480782870","https://openalex.org/W1969142081","https://openalex.org/W1977760726","https://openalex.org/W1983231641","https://openalex.org/W1994349244","https://openalex.org/W2004538230","https://openalex.org/W2037890325","https://openalex.org/W2060514040","https://openalex.org/W2093653159","https://openalex.org/W2097127763","https://openalex.org/W2155782014","https://openalex.org/W2183087606","https://openalex.org/W2336491352","https://openalex.org/W2345019601","https://openalex.org/W2742943030","https://openalex.org/W2883240619","https://openalex.org/W2900742918","https://openalex.org/W2923661817","https://openalex.org/W3081818009","https://openalex.org/W3137845599","https://openalex.org/W4200222850","https://openalex.org/W4210701066","https://openalex.org/W4281489582","https://openalex.org/W4388095662","https://openalex.org/W4393033207","https://openalex.org/W4403807805","https://openalex.org/W4404013526","https://openalex.org/W4404056953"],"related_works":[],"abstract_inverted_index":{"Underwater":[0],"robots":[1],"face":[2],"significant":[3],"positioning":[4,42,198,231,263],"challenges,":[5],"as":[6,57],"conventional":[7,212],"terrestrial":[8],"methods":[9,30],"like":[10],"GPS":[11],"and":[12,107,150,156,165,178,203,237,250],"infrared":[13],"motion":[14,166],"capture":[15],"fail":[16],"in":[17,37,50,53,60,191],"underwater":[18,75,109,240,257],"environments":[19,51],"due":[20],"to":[21,46,134,144,161,180,255],"the":[22,148,151,224],"attenuation":[23],"of":[24,120,187],"electromagnetic":[25],"waves.":[26],"In":[27,86],"addition,":[28],"acoustic-based":[29],"suffer":[31],"from":[32],"signal":[33],"reflections":[34],"on":[35],"walls":[36],"confined":[38],"environments.":[39],"However,":[40],"centimeter-level":[41,197],"accuracy":[43,199],"is":[44,142,159,245],"required":[45],"perform":[47],"precise":[48,230],"inspection":[49,236],"used":[52,160],"industrial":[54,193,233],"applications":[55,249],"such":[56],"spent-fuel":[58],"tanks":[59],"nuclear":[61],"power":[62,163],"plants":[63],"or":[64],"fire-protection":[65],"reservoirs.":[66],"Although":[67],"fiducial":[68,93,123],"markers":[69,214],"offer":[70],"a":[71,130,252],"potential":[72],"solution,":[73],"inconsistent":[74],"lighting":[76,209],"conditions":[77,210],"severely":[78],"reduce":[79,162],"how":[80],"reliably":[81],"they":[82],"can":[83],"be":[84],"recognized.":[85],"this":[87],"study,":[88],"we":[89],"present":[90],"an":[91,116,188,192],"active":[92],"marker":[94,124,149,169],"system":[95,114,228],"that":[96],"addresses":[97],"these":[98],"limitations":[99],"by":[100,174,222],"using":[101,126],"LED":[102,117],"strobe":[103,157],"illumination":[104],"for":[105,232,247],"reliable":[106],"accurate":[108],"robot":[110],"positioning.":[111],"The":[112,168,185,227,242],"proposed":[113,243],"features":[115],"array":[118],"capable":[119],"dynamically":[121],"generating":[122],"patterns":[125],"blue":[127],"LEDs":[128],"at":[129],"475":[131],"nm":[132],"wavelength":[133],"minimize":[135],"water":[136,194,234],"absorption.":[137],"A":[138],"vision-based":[139,219],"synchronization":[140],"strategy":[141],"integrated":[143],"enable":[145],"coordination":[146],"between":[147],"camera":[152],"without":[153],"external":[154],"communication,":[155],"operation":[158],"consumption":[164],"blur.":[167],"cell":[170],"design":[171],"was":[172],"optimized":[173],"testing":[175],"its":[176],"illuminance":[177],"uniformity":[179],"achieve":[181],"optimal":[182],"recognition":[183],"performance.":[184],"results":[186],"experimental":[189],"evaluation":[190],"tank":[195,235],"demonstrated":[196],"(within":[200],"2%":[201],"error)":[202],"consistent":[204],"detection":[205],"even":[206],"under":[207],"extreme":[208],"where":[211],"passive":[213],"fail,":[215],"while":[216,260],"also":[217],"providing":[218],"communication":[220],"capability":[221],"changing":[223],"marker\u2019s":[225],"ID.":[226],"enables":[229],"research":[238],"with":[239],"robots.":[241],"approach":[244],"well-suited":[246],"mobile":[248],"provides":[251],"cost-effective":[253],"alternative":[254],"expensive":[256],"motion-capture":[258],"systems":[259],"maintaining":[261],"high":[262],"accuracy.":[264]},"counts_by_year":[],"updated_date":"2026-04-09T08:11:56.329763","created_date":"2026-01-15T00:00:00"}
