{"id":"https://openalex.org/W3204208718","doi":"https://doi.org/10.1109/case49439.2021.9551624","title":"Terrain-Relative Diver Following with Autonomous Underwater Vehicle for Coral Reef Mapping","display_name":"Terrain-Relative Diver Following with Autonomous Underwater Vehicle for Coral Reef Mapping","publication_year":2021,"publication_date":"2021-08-23","ids":{"openalex":"https://openalex.org/W3204208718","doi":"https://doi.org/10.1109/case49439.2021.9551624","mag":"3204208718"},"language":"en","primary_location":{"id":"doi:10.1109/case49439.2021.9551624","is_oa":false,"landing_page_url":"https://doi.org/10.1109/case49439.2021.9551624","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2021 IEEE 17th International Conference on Automation Science and Engineering (CASE)","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5038606153","display_name":"Prasad Antervedi","orcid":null},"institutions":[{"id":"https://openalex.org/I55732556","display_name":"Arizona State University","ror":"https://ror.org/03efmqc40","country_code":"US","type":"education","lineage":["https://openalex.org/I55732556"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Lakshmi Gana Prasad Antervedi","raw_affiliation_strings":["Arizona State University, Tempe, Arizona","School of Earth and Space Exploration"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Arizona State University, Tempe, Arizona","institution_ids":["https://openalex.org/I55732556"]},{"raw_affiliation_string":"School of Earth and Space Exploration","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5021430727","display_name":"Zhiang Chen","orcid":"https://orcid.org/0000-0002-1341-9383"},"institutions":[{"id":"https://openalex.org/I55732556","display_name":"Arizona State University","ror":"https://ror.org/03efmqc40","country_code":"US","type":"education","lineage":["https://openalex.org/I55732556"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Zhiang Chen","raw_affiliation_strings":["Arizona State University, Tempe, Arizona","School of Earth and Space Exploration"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Arizona State University, Tempe, Arizona","institution_ids":["https://openalex.org/I55732556"]},{"raw_affiliation_string":"School of Earth and Space Exploration","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5110806894","display_name":"Harish Anand","orcid":null},"institutions":[{"id":"https://openalex.org/I55732556","display_name":"Arizona State University","ror":"https://ror.org/03efmqc40","country_code":"US","type":"education","lineage":["https://openalex.org/I55732556"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Harish Anand","raw_affiliation_strings":["Arizona State University, Tempe, Arizona","School of Earth and Space Exploration"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Arizona State University, Tempe, Arizona","institution_ids":["https://openalex.org/I55732556"]},{"raw_affiliation_string":"School of Earth and Space Exploration","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5031087812","display_name":"Roberta E. Martin","orcid":"https://orcid.org/0000-0003-3509-8530"},"institutions":[{"id":"https://openalex.org/I55732556","display_name":"Arizona State University","ror":"https://ror.org/03efmqc40","country_code":"US","type":"education","lineage":["https://openalex.org/I55732556"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Roberta Martin","raw_affiliation_strings":["Arizona State University, Tempe, Arizona","School of Geographical Sciences and Urban Planning"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Arizona State University, Tempe, Arizona","institution_ids":["https://openalex.org/I55732556"]},{"raw_affiliation_string":"School of Geographical Sciences and Urban Planning","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5023023283","display_name":"R. Arrowsmith","orcid":null},"institutions":[{"id":"https://openalex.org/I55732556","display_name":"Arizona State University","ror":"https://ror.org/03efmqc40","country_code":"US","type":"education","lineage":["https://openalex.org/I55732556"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Ramon Arrowsmith","raw_affiliation_strings":["Arizona State University, Tempe, Arizona","School of Earth and Space Exploration"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Arizona State University, Tempe, Arizona","institution_ids":["https://openalex.org/I55732556"]},{"raw_affiliation_string":"School of Earth and Space Exploration","institution_ids":[]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5102922754","display_name":"Jnaneshwar Das","orcid":"https://orcid.org/0000-0002-6844-421X"},"institutions":[{"id":"https://openalex.org/I55732556","display_name":"Arizona State University","ror":"https://ror.org/03efmqc40","country_code":"US","type":"education","lineage":["https://openalex.org/I55732556"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Jnaneshwar Das","raw_affiliation_strings":["Arizona State University, Tempe, Arizona","School of Earth and Space Exploration"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Arizona State University, Tempe, Arizona","institution_ids":["https://openalex.org/I55732556"]},{"raw_affiliation_string":"School of Earth and Space Exploration","institution_ids":[]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":6,"corresponding_author_ids":["https://openalex.org/A5038606153"],"corresponding_institution_ids":["https://openalex.org/I55732556"],"apc_list":null,"apc_paid":null,"fwci":1.0411,"has_fulltext":false,"cited_by_count":6,"citation_normalized_percentile":{"value":0.75925026,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":98},"biblio":{"volume":null,"issue":null,"first_page":"2307","last_page":"2312"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11192","display_name":"Underwater Vehicles and Communication Systems","score":0.9998999834060669,"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"}},"topics":[{"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/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.998199999332428,"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/T12697","display_name":"Water Quality Monitoring Technologies","score":0.991599977016449,"subfield":{"id":"https://openalex.org/subfields/2312","display_name":"Water Science and Technology"},"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/terrain","display_name":"Terrain","score":0.8174365758895874},{"id":"https://openalex.org/keywords/coral-reef","display_name":"Coral reef","score":0.5957408547401428},{"id":"https://openalex.org/keywords/underwater","display_name":"Underwater","score":0.5886124968528748},{"id":"https://openalex.org/keywords/reef","display_name":"Reef","score":0.5184661746025085},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5060617327690125},{"id":"https://openalex.org/keywords/remote-sensing","display_name":"Remote sensing","score":0.4738101065158844},{"id":"https://openalex.org/keywords/remotely-operated-underwater-vehicle","display_name":"Remotely operated underwater vehicle","score":0.43971681594848633},{"id":"https://openalex.org/keywords/environmental-science","display_name":"Environmental science","score":0.34375208616256714},{"id":"https://openalex.org/keywords/marine-engineering","display_name":"Marine engineering","score":0.33653736114501953},{"id":"https://openalex.org/keywords/geology","display_name":"Geology","score":0.29342329502105713},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.27260226011276245},{"id":"https://openalex.org/keywords/oceanography","display_name":"Oceanography","score":0.19041094183921814},{"id":"https://openalex.org/keywords/geography","display_name":"Geography","score":0.18966177105903625},{"id":"https://openalex.org/keywords/cartography","display_name":"Cartography","score":0.16758817434310913},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.1530933380126953},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.14216285943984985},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.1338091790676117}],"concepts":[{"id":"https://openalex.org/C161840515","wikidata":"https://www.wikidata.org/wiki/Q186131","display_name":"Terrain","level":2,"score":0.8174365758895874},{"id":"https://openalex.org/C79367842","wikidata":"https://www.wikidata.org/wiki/Q11292","display_name":"Coral reef","level":2,"score":0.5957408547401428},{"id":"https://openalex.org/C98083399","wikidata":"https://www.wikidata.org/wiki/Q3246517","display_name":"Underwater","level":2,"score":0.5886124968528748},{"id":"https://openalex.org/C77044568","wikidata":"https://www.wikidata.org/wiki/Q184358","display_name":"Reef","level":2,"score":0.5184661746025085},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5060617327690125},{"id":"https://openalex.org/C62649853","wikidata":"https://www.wikidata.org/wiki/Q199687","display_name":"Remote sensing","level":1,"score":0.4738101065158844},{"id":"https://openalex.org/C145424490","wikidata":"https://www.wikidata.org/wiki/Q618465","display_name":"Remotely operated underwater vehicle","level":4,"score":0.43971681594848633},{"id":"https://openalex.org/C39432304","wikidata":"https://www.wikidata.org/wiki/Q188847","display_name":"Environmental science","level":0,"score":0.34375208616256714},{"id":"https://openalex.org/C199104240","wikidata":"https://www.wikidata.org/wiki/Q118291","display_name":"Marine engineering","level":1,"score":0.33653736114501953},{"id":"https://openalex.org/C127313418","wikidata":"https://www.wikidata.org/wiki/Q1069","display_name":"Geology","level":0,"score":0.29342329502105713},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.27260226011276245},{"id":"https://openalex.org/C111368507","wikidata":"https://www.wikidata.org/wiki/Q43518","display_name":"Oceanography","level":1,"score":0.19041094183921814},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.18966177105903625},{"id":"https://openalex.org/C58640448","wikidata":"https://www.wikidata.org/wiki/Q42515","display_name":"Cartography","level":1,"score":0.16758817434310913},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.1530933380126953},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.14216285943984985},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.1338091790676117}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/case49439.2021.9551624","is_oa":false,"landing_page_url":"https://doi.org/10.1109/case49439.2021.9551624","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2021 IEEE 17th International Conference on Automation Science and Engineering (CASE)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/14","display_name":"Life below water","score":0.6899999976158142}],"awards":[{"id":"https://openalex.org/G2597911305","display_name":null,"funder_award_id":"CNS-1521617","funder_id":"https://openalex.org/F4320306076","funder_display_name":"National Science Foundation"}],"funders":[{"id":"https://openalex.org/F4320306076","display_name":"National Science Foundation","ror":"https://ror.org/021nxhr62"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":24,"referenced_works":["https://openalex.org/W95960393","https://openalex.org/W1578294898","https://openalex.org/W1583808776","https://openalex.org/W1989161595","https://openalex.org/W2105934661","https://openalex.org/W2115855524","https://openalex.org/W2118916896","https://openalex.org/W2125059456","https://openalex.org/W2139710904","https://openalex.org/W2167340365","https://openalex.org/W2169314087","https://openalex.org/W2210895635","https://openalex.org/W2563150812","https://openalex.org/W2566719660","https://openalex.org/W2612848726","https://openalex.org/W2771926486","https://openalex.org/W2809054577","https://openalex.org/W2890806935","https://openalex.org/W2892249564","https://openalex.org/W2963037989","https://openalex.org/W2981997809","https://openalex.org/W3099629894","https://openalex.org/W3130863473","https://openalex.org/W6628973269"],"related_works":["https://openalex.org/W2571982302","https://openalex.org/W4352980952","https://openalex.org/W2254436626","https://openalex.org/W1485496002","https://openalex.org/W4310520215","https://openalex.org/W2265719637","https://openalex.org/W4286276703","https://openalex.org/W2377508713","https://openalex.org/W830136518","https://openalex.org/W599055097"],"abstract_inverted_index":{"Coral":[0],"reef":[1,28,165],"mapping":[2,45],"is":[3,177],"an":[4,114],"indispensable":[5],"step":[6],"in":[7,41,76,100,149,166,209],"coral":[8,27,164],"conservation":[9],"efforts":[10],"across":[11],"the":[12,24,56,63,69,72,87,95,101,128,171,178,195,200,206,210],"globe.":[13],"Monitoring":[14],"reefs":[15,96],"at":[16,90],"regular":[17],"intervals":[18],"helps":[19],"conservationists":[20],"understand":[21],"and":[22,46,78,141,205],"address":[23],"problems":[25],"causing":[26],"degradation.":[29],"Autonomous":[30],"Underwater":[31],"Vehicles":[32],"(AUVs)":[33],"have":[34,198],"a":[35,91,108,119,124,159,163],"tremendous":[36],"potential":[37],"to":[38,50,97,194],"assist":[39],"humans":[40],"these":[42],"efforts.":[43],"Delegating":[44],"measurement":[47],"acquisition":[48],"tasks":[49],"AUVs":[51],"would":[52],"not":[53],"only":[54],"limit":[55],"number":[57],"of":[58,71,134,162,173,192],"human":[59,120],"divers":[60],"required":[61],"for":[62,113,137,202],"missions":[64],"but":[65],"could":[66,81],"also":[67,184],"improve":[68],"quality":[70],"maps":[73],"developed.":[74],"Consistency":[75],"imagery":[77,88],"spectroscopic":[79],"measurements":[80],"be":[82],"significantly":[83],"improved":[84],"by":[85],"keeping":[86],"payload":[89],"fixed":[92,125],"distance":[93,126,193],"from":[94,127],"reduce":[98],"heteroscedasticity":[99],"measurements.":[102],"To":[103,170],"this":[104,176],"end,":[105],"we":[106],"present":[107],"Terrain-Relative":[109],"Diver":[110],"Following":[111],"system":[112,132,148,182],"AUV":[115],"that":[116,183],"can":[117],"follow":[118],"diver":[121,138,180],"while":[122],"maintaining":[123],"terrain.":[129,196],"Our":[130],"proposed":[131],"consists":[133],"separate":[135],"modules":[136],"detection,":[139],"tracking,":[140],"terrain":[142,156,160],"following.":[143],"We":[144,197],"extensively":[145],"tested":[146],"our":[147,174,203],"Gazebo":[150],"simulation":[151],"environment":[152],"with":[153],"three":[154],"different":[155],"models,":[157],"including":[158],"model":[161],"Honaunau":[167],"Bay,":[168],"Hawaii.":[169],"best":[172],"knowledge,":[175],"first":[179],"following":[181],"carries":[185],"out":[186],"terrain-relative":[187],"navigation,":[188],"ensuring":[189],"minimal":[190],"variation":[191],"released":[199],"code":[201],"system,":[204],"datasets":[207],"used":[208],"detection":[211],"module.":[212]},"counts_by_year":[{"year":2024,"cited_by_count":4},{"year":2023,"cited_by_count":1},{"year":2022,"cited_by_count":1}],"updated_date":"2026-04-30T09:15:22.047038","created_date":"2025-10-10T00:00:00"}