{"id":"https://openalex.org/W2751799747","doi":"https://doi.org/10.1109/ecmr.2017.8098701","title":"Improving sonar image patch matching via deep learning","display_name":"Improving sonar image patch matching via deep learning","publication_year":2017,"publication_date":"2017-09-01","ids":{"openalex":"https://openalex.org/W2751799747","doi":"https://doi.org/10.1109/ecmr.2017.8098701","mag":"2751799747"},"language":"en","primary_location":{"id":"doi:10.1109/ecmr.2017.8098701","is_oa":false,"landing_page_url":"https://doi.org/10.1109/ecmr.2017.8098701","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2017 European Conference on Mobile Robots (ECMR)","raw_type":"proceedings-article"},"type":"conference-paper","indexed_in":["arxiv","crossref","datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://arxiv.org/pdf/1709.02150","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5013519837","display_name":"Mat\u00edas Valdenegro-Toro","orcid":"https://orcid.org/0000-0001-5793-9498"},"institutions":[{"id":"https://openalex.org/I32062511","display_name":"Heriot-Watt University","ror":"https://ror.org/04mghma93","country_code":"GB","type":"education","lineage":["https://openalex.org/I32062511"]}],"countries":["GB"],"is_corresponding":true,"raw_author_name":"Matias Valdenegro-Toro","raw_affiliation_strings":["Matias Valdenegro-Toro is with Ocean Systems Laboratory, Heriot-Watt University, Edinburgh, UK","Heriot-Watt University, Edinburgh, United Kingdom"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Matias Valdenegro-Toro is with Ocean Systems Laboratory, Heriot-Watt University, Edinburgh, UK","institution_ids":["https://openalex.org/I32062511"]},{"raw_affiliation_string":"Heriot-Watt University, Edinburgh, United Kingdom","institution_ids":["https://openalex.org/I32062511"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":["https://openalex.org/A5013519837"],"corresponding_institution_ids":["https://openalex.org/I32062511"],"apc_list":null,"apc_paid":null,"fwci":1.9708,"has_fulltext":true,"cited_by_count":2,"citation_normalized_percentile":{"value":0.82309424,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":94},"biblio":{"volume":null,"issue":null,"first_page":"1","last_page":"6"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11698","display_name":"Underwater Acoustics Research","score":0.9990000128746033,"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"}},"topics":[{"id":"https://openalex.org/T11698","display_name":"Underwater Acoustics Research","score":0.9990000128746033,"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/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9988999962806702,"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":0.9983999729156494,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/sonar","display_name":"Sonar","score":0.8572447299957275},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.7670431137084961},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6712121963500977},{"id":"https://openalex.org/keywords/pattern-recognition","display_name":"Pattern recognition (psychology)","score":0.6448595523834229},{"id":"https://openalex.org/keywords/matching","display_name":"Matching (statistics)","score":0.6144861578941345},{"id":"https://openalex.org/keywords/convolutional-neural-network","display_name":"Convolutional neural network","score":0.6140025854110718},{"id":"https://openalex.org/keywords/scale-invariant-feature-transform","display_name":"Scale-invariant feature transform","score":0.5828518867492676},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.46406397223472595},{"id":"https://openalex.org/keywords/support-vector-machine","display_name":"Support vector machine","score":0.4538307785987854},{"id":"https://openalex.org/keywords/template-matching","display_name":"Template matching","score":0.41765740513801575},{"id":"https://openalex.org/keywords/feature-extraction","display_name":"Feature extraction","score":0.34546011686325073},{"id":"https://openalex.org/keywords/image","display_name":"Image (mathematics)","score":0.28700318932533264},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.1981467604637146},{"id":"https://openalex.org/keywords/statistics","display_name":"Statistics","score":0.0937286913394928}],"concepts":[{"id":"https://openalex.org/C555745239","wikidata":"https://www.wikidata.org/wiki/Q133220","display_name":"Sonar","level":2,"score":0.8572447299957275},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.7670431137084961},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6712121963500977},{"id":"https://openalex.org/C153180895","wikidata":"https://www.wikidata.org/wiki/Q7148389","display_name":"Pattern recognition (psychology)","level":2,"score":0.6448595523834229},{"id":"https://openalex.org/C165064840","wikidata":"https://www.wikidata.org/wiki/Q1321061","display_name":"Matching (statistics)","level":2,"score":0.6144861578941345},{"id":"https://openalex.org/C81363708","wikidata":"https://www.wikidata.org/wiki/Q17084460","display_name":"Convolutional neural network","level":2,"score":0.6140025854110718},{"id":"https://openalex.org/C61265191","wikidata":"https://www.wikidata.org/wiki/Q767770","display_name":"Scale-invariant feature transform","level":3,"score":0.5828518867492676},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.46406397223472595},{"id":"https://openalex.org/C12267149","wikidata":"https://www.wikidata.org/wiki/Q282453","display_name":"Support vector machine","level":2,"score":0.4538307785987854},{"id":"https://openalex.org/C158096908","wikidata":"https://www.wikidata.org/wiki/Q3983303","display_name":"Template matching","level":3,"score":0.41765740513801575},{"id":"https://openalex.org/C52622490","wikidata":"https://www.wikidata.org/wiki/Q1026626","display_name":"Feature extraction","level":2,"score":0.34546011686325073},{"id":"https://openalex.org/C115961682","wikidata":"https://www.wikidata.org/wiki/Q860623","display_name":"Image (mathematics)","level":2,"score":0.28700318932533264},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.1981467604637146},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.0937286913394928}],"mesh":[],"locations_count":4,"locations":[{"id":"doi:10.1109/ecmr.2017.8098701","is_oa":false,"landing_page_url":"https://doi.org/10.1109/ecmr.2017.8098701","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2017 European Conference on Mobile Robots (ECMR)","raw_type":"proceedings-article"},{"id":"pmh:oai:arXiv.org:1709.02150","is_oa":true,"landing_page_url":"http://arxiv.org/abs/1709.02150","pdf_url":"https://arxiv.org/pdf/1709.02150","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"text"},{"id":"mag:2751799747","is_oa":true,"landing_page_url":"https://arxiv.org/pdf/1709.02150","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"arXiv (Cornell University)","raw_type":null},{"id":"doi:10.48550/arxiv.1709.02150","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.1709.02150","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":"article-journal"}],"best_oa_location":{"id":"pmh:oai:arXiv.org:1709.02150","is_oa":true,"landing_page_url":"http://arxiv.org/abs/1709.02150","pdf_url":"https://arxiv.org/pdf/1709.02150","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"text"},"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/14","display_name":"Life below water","score":0.8999999761581421}],"awards":[{"id":"https://openalex.org/G3316557913","display_name":"European Academy for Marine and Underwater Robotics","funder_award_id":"608096","funder_id":"https://openalex.org/F4320320300","funder_display_name":"European Commission"},{"id":"https://openalex.org/G5518805754","display_name":null,"funder_award_id":"FP7-PEOPLE-2013","funder_id":"https://openalex.org/F4320320300","funder_display_name":"European Commission"},{"id":"https://openalex.org/G5997916591","display_name":null,"funder_award_id":"FP7-PEOPLE-2013-ITN","funder_id":"https://openalex.org/F4320338368","funder_display_name":"FP7 People: Marie-Curie Actions"},{"id":"https://openalex.org/G744900933","display_name":null,"funder_award_id":"FP7\u2010PEOPLE\u2010 2013\u2010ITN","funder_id":"https://openalex.org/F4320320300","funder_display_name":"European Commission"},{"id":"https://openalex.org/G7868512380","display_name":null,"funder_award_id":"FP7-PEOPLE-2013","funder_id":"https://openalex.org/F4320338368","funder_display_name":"FP7 People: Marie-Curie Actions"}],"funders":[{"id":"https://openalex.org/F4320320300","display_name":"European Commission","ror":"https://ror.org/00k4n6c32"},{"id":"https://openalex.org/F4320338368","display_name":"FP7 People: Marie-Curie Actions","ror":"https://ror.org/00k4n6c32"}],"has_content":{"pdf":true,"grobid_xml":false},"content_urls":{"pdf":"https://content.openalex.org/works/W2751799747.pdf"},"referenced_works_count":23,"referenced_works":["https://openalex.org/W1522301498","https://openalex.org/W1564302413","https://openalex.org/W1955055330","https://openalex.org/W2036674525","https://openalex.org/W2048710758","https://openalex.org/W2069257422","https://openalex.org/W2083769217","https://openalex.org/W2095705004","https://openalex.org/W2112796928","https://openalex.org/W2117228865","https://openalex.org/W2118811482","https://openalex.org/W2151103935","https://openalex.org/W2562989614","https://openalex.org/W2949117887","https://openalex.org/W2949213045","https://openalex.org/W2953391683","https://openalex.org/W2963502507","https://openalex.org/W6637400245","https://openalex.org/W6638039622","https://openalex.org/W6662680593","https://openalex.org/W6666023844","https://openalex.org/W6674330103","https://openalex.org/W6684191040"],"related_works":["https://openalex.org/W2962839102","https://openalex.org/W3088221816","https://openalex.org/W2990142830","https://openalex.org/W3120839533","https://openalex.org/W2846078719","https://openalex.org/W2347749145","https://openalex.org/W3137168991","https://openalex.org/W2528344695","https://openalex.org/W3170457563","https://openalex.org/W2247193073","https://openalex.org/W3198106997","https://openalex.org/W3096913019","https://openalex.org/W2130795389","https://openalex.org/W2909467556","https://openalex.org/W3113357150","https://openalex.org/W3090063164","https://openalex.org/W2888506104","https://openalex.org/W198073821","https://openalex.org/W2129453081","https://openalex.org/W2995450100"],"abstract_inverted_index":{"Matching":[0],"sonar":[1,15,34,74],"images":[2,16],"with":[3,144],"high":[4],"accuracy":[5],"has":[6],"been":[7],"a":[8,11,65,85,101,105,118,145,153],"problem":[9],"for":[10,38,100,113],"long":[12],"time,":[13],"as":[14,41],"are":[17],"inherently":[18],"hard":[19],"to":[20,23,63,78,136],"model":[21],"due":[22],"reflections,":[24],"noise":[25],"and":[26,45,48,81,110,131,152],"viewpoint":[27],"dependence.":[28],"Autonomous":[29],"Underwater":[30],"Vehicles":[31],"require":[32],"good":[33],"image":[35],"matching":[36,66,80,108,119,125],"capabilities":[37],"tasks":[39],"such":[40],"tracking,":[42],"simultaneous":[43],"localization":[44],"mapping":[46],"(SLAM)":[47],"some":[49],"cases":[50],"of":[51,58,87],"object":[52],"detection/recognition.":[53],"We":[54],"propose":[55],"the":[56,96],"use":[57],"Convolutional":[59],"Neural":[60],"Networks":[61],"(CNN)":[62],"learn":[64],"function":[67],"that":[68,103,116],"can":[69],"be":[70],"trained":[71],"from":[72],"labeled":[73],"data,":[75],"after":[76],"pre-processing":[77],"generate":[79],"non-matching":[82],"pairs.":[83],"In":[84,121],"dataset":[86],"39K":[88],"training":[89],"pairs,":[90],"we":[91],"obtain":[92,133,141],"0.91":[93],"Area":[94],"under":[95],"ROC":[97],"Curve":[98],"(AUC)":[99],"CNN":[102,115],"outputs":[104,117],"binary":[106],"classification":[107],"decision,":[109],"0.89":[111],"AUC":[112,134,150,159],"another":[114],"score.":[120],"comparison,":[122],"classical":[123],"keypoint":[124],"methods":[126,140],"like":[127],"SIFT,":[128],"SURF,":[129],"ORB":[130],"AKAZE":[132],"0.61":[135],"0.68.":[137],"Alternative":[138],"learning":[139],"similar":[142],"results,":[143],"Random":[146],"Forest":[147],"Classifier":[148],"obtaining":[149],"0.79,":[151],"Support":[154],"Vector":[155],"Machine":[156],"resulting":[157],"in":[158],"0.66.":[160]},"counts_by_year":[{"year":2022,"cited_by_count":1},{"year":2020,"cited_by_count":1}],"updated_date":"2026-08-01T09:00:35.917206","created_date":"2025-10-10T00:00:00"}