{"id":"https://openalex.org/W4391423849","doi":"https://doi.org/10.1109/icar58858.2023.10406928","title":"Autonomous Exploration and General Visual Inspection of Ship Ballast Water Tanks Using Aerial Robots","display_name":"Autonomous Exploration and General Visual Inspection of Ship Ballast Water Tanks Using Aerial Robots","publication_year":2023,"publication_date":"2023-12-05","ids":{"openalex":"https://openalex.org/W4391423849","doi":"https://doi.org/10.1109/icar58858.2023.10406928"},"language":"en","primary_location":{"id":"doi:10.1109/icar58858.2023.10406928","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icar58858.2023.10406928","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 21st International Conference on Advanced Robotics (ICAR)","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/A5083948397","display_name":"Mihir Dharmadhikari","orcid":"https://orcid.org/0000-0002-4972-1744"},"institutions":[{"id":"https://openalex.org/I204778367","display_name":"Norwegian University of Science and Technology","ror":"https://ror.org/05xg72x27","country_code":"NO","type":"education","lineage":["https://openalex.org/I204778367"]}],"countries":["NO"],"is_corresponding":true,"raw_author_name":"Mihir Dharmadhikari","raw_affiliation_strings":["Norwegian University of Science and Technology (NTNU),Autonomous Robots Lab,Trondheim,Norway,7034"],"affiliations":[{"raw_affiliation_string":"Norwegian University of Science and Technology (NTNU),Autonomous Robots Lab,Trondheim,Norway,7034","institution_ids":["https://openalex.org/I204778367"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5069928677","display_name":"Paolo De Petris","orcid":null},"institutions":[{"id":"https://openalex.org/I204778367","display_name":"Norwegian University of Science and Technology","ror":"https://ror.org/05xg72x27","country_code":"NO","type":"education","lineage":["https://openalex.org/I204778367"]}],"countries":["NO"],"is_corresponding":false,"raw_author_name":"Paolo De Petris","raw_affiliation_strings":["Norwegian University of Science and Technology (NTNU),Autonomous Robots Lab,Trondheim,Norway,7034"],"affiliations":[{"raw_affiliation_string":"Norwegian University of Science and Technology (NTNU),Autonomous Robots Lab,Trondheim,Norway,7034","institution_ids":["https://openalex.org/I204778367"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5103071464","display_name":"Mihir Kulkarni","orcid":"https://orcid.org/0000-0003-0895-5867"},"institutions":[{"id":"https://openalex.org/I204778367","display_name":"Norwegian University of Science and Technology","ror":"https://ror.org/05xg72x27","country_code":"NO","type":"education","lineage":["https://openalex.org/I204778367"]}],"countries":["NO"],"is_corresponding":false,"raw_author_name":"Mihir Kulkarni","raw_affiliation_strings":["Norwegian University of Science and Technology (NTNU),Autonomous Robots Lab,Trondheim,Norway,7034"],"affiliations":[{"raw_affiliation_string":"Norwegian University of Science and Technology (NTNU),Autonomous Robots Lab,Trondheim,Norway,7034","institution_ids":["https://openalex.org/I204778367"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5024717956","display_name":"Nikhil Khedekar","orcid":"https://orcid.org/0000-0002-1340-4894"},"institutions":[{"id":"https://openalex.org/I204778367","display_name":"Norwegian University of Science and Technology","ror":"https://ror.org/05xg72x27","country_code":"NO","type":"education","lineage":["https://openalex.org/I204778367"]}],"countries":["NO"],"is_corresponding":false,"raw_author_name":"Nikhil Khedekar","raw_affiliation_strings":["Norwegian University of Science and Technology (NTNU),Autonomous Robots Lab,Trondheim,Norway,7034"],"affiliations":[{"raw_affiliation_string":"Norwegian University of Science and Technology (NTNU),Autonomous Robots Lab,Trondheim,Norway,7034","institution_ids":["https://openalex.org/I204778367"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5050545734","display_name":"Huan Nguyen","orcid":"https://orcid.org/0000-0002-0159-1936"},"institutions":[{"id":"https://openalex.org/I204778367","display_name":"Norwegian University of Science and Technology","ror":"https://ror.org/05xg72x27","country_code":"NO","type":"education","lineage":["https://openalex.org/I204778367"]}],"countries":["NO"],"is_corresponding":false,"raw_author_name":"Huan Nguyen","raw_affiliation_strings":["Norwegian University of Science and Technology (NTNU),Autonomous Robots Lab,Trondheim,Norway,7034"],"affiliations":[{"raw_affiliation_string":"Norwegian University of Science and Technology (NTNU),Autonomous Robots Lab,Trondheim,Norway,7034","institution_ids":["https://openalex.org/I204778367"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5024486508","display_name":"Arnt Erik Stene","orcid":null},"institutions":[{"id":"https://openalex.org/I49324905","display_name":"Equinor (Norway)","ror":"https://ror.org/017mte255","country_code":"NO","type":"company","lineage":["https://openalex.org/I49324905"]}],"countries":["NO"],"is_corresponding":false,"raw_author_name":"Arnt Erik Stene","raw_affiliation_strings":["Equinor ASA,Norway","Equinor ASA, Norway"],"affiliations":[{"raw_affiliation_string":"Equinor ASA,Norway","institution_ids":["https://openalex.org/I49324905"]},{"raw_affiliation_string":"Equinor ASA, Norway","institution_ids":["https://openalex.org/I49324905"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5075810258","display_name":"Eivind Sj\u00f8vold","orcid":null},"institutions":[{"id":"https://openalex.org/I49324905","display_name":"Equinor (Norway)","ror":"https://ror.org/017mte255","country_code":"NO","type":"company","lineage":["https://openalex.org/I49324905"]}],"countries":["NO"],"is_corresponding":false,"raw_author_name":"Eivind Sj\u00f8vold","raw_affiliation_strings":["Equinor ASA,Norway","Equinor ASA, Norway"],"affiliations":[{"raw_affiliation_string":"Equinor ASA,Norway","institution_ids":["https://openalex.org/I49324905"]},{"raw_affiliation_string":"Equinor ASA, Norway","institution_ids":["https://openalex.org/I49324905"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5014174982","display_name":"Kristian Thinn Solheim","orcid":null},"institutions":[{"id":"https://openalex.org/I4210094575","display_name":"Altera (United Kingdom)","ror":"https://ror.org/00m96gg93","country_code":"GB","type":"company","lineage":["https://openalex.org/I4210094575"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Kristian Solheim","raw_affiliation_strings":["Altera Infrastructure Production AS,Norway","Altera Infrastructure Production AS, Norway"],"affiliations":[{"raw_affiliation_string":"Altera Infrastructure Production AS,Norway","institution_ids":["https://openalex.org/I4210094575"]},{"raw_affiliation_string":"Altera Infrastructure Production AS, Norway","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5093227514","display_name":"Bente Gussiaas","orcid":null},"institutions":[{"id":"https://openalex.org/I4210094575","display_name":"Altera (United Kingdom)","ror":"https://ror.org/00m96gg93","country_code":"GB","type":"company","lineage":["https://openalex.org/I4210094575"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Bente Gussiaas","raw_affiliation_strings":["Altera Infrastructure Production AS,Norway","Altera Infrastructure Production AS, Norway"],"affiliations":[{"raw_affiliation_string":"Altera Infrastructure Production AS,Norway","institution_ids":["https://openalex.org/I4210094575"]},{"raw_affiliation_string":"Altera Infrastructure Production AS, Norway","institution_ids":[]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5022659812","display_name":"Kostas Alexis","orcid":"https://orcid.org/0000-0002-9989-298X"},"institutions":[{"id":"https://openalex.org/I204778367","display_name":"Norwegian University of Science and Technology","ror":"https://ror.org/05xg72x27","country_code":"NO","type":"education","lineage":["https://openalex.org/I204778367"]}],"countries":["NO"],"is_corresponding":false,"raw_author_name":"Kostas Alexis","raw_affiliation_strings":["Norwegian University of Science and Technology (NTNU),Autonomous Robots Lab,Trondheim,Norway,7034"],"affiliations":[{"raw_affiliation_string":"Norwegian University of Science and Technology (NTNU),Autonomous Robots Lab,Trondheim,Norway,7034","institution_ids":["https://openalex.org/I204778367"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":10,"corresponding_author_ids":["https://openalex.org/A5083948397"],"corresponding_institution_ids":["https://openalex.org/I204778367"],"apc_list":null,"apc_paid":null,"fwci":1.1518,"has_fulltext":false,"cited_by_count":7,"citation_normalized_percentile":{"value":0.77565782,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"409","last_page":"416"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T12213","display_name":"Marine Ecology and Invasive Species","score":0.9995999932289124,"subfield":{"id":"https://openalex.org/subfields/2306","display_name":"Global and Planetary Change"},"field":{"id":"https://openalex.org/fields/23","display_name":"Environmental Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T12213","display_name":"Marine Ecology and Invasive Species","score":0.9995999932289124,"subfield":{"id":"https://openalex.org/subfields/2306","display_name":"Global and Planetary Change"},"field":{"id":"https://openalex.org/fields/23","display_name":"Environmental Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9929999709129333,"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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.992900013923645,"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/ballast","display_name":"Ballast","score":0.9726894497871399},{"id":"https://openalex.org/keywords/visual-inspection","display_name":"Visual inspection","score":0.7384186387062073},{"id":"https://openalex.org/keywords/polygon-mesh","display_name":"Polygon mesh","score":0.6813980340957642},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6726664900779724},{"id":"https://openalex.org/keywords/marine-engineering","display_name":"Marine engineering","score":0.639178454875946},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.6111820936203003},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.545533299446106},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.46332117915153503},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.43592849373817444},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.32805564999580383},{"id":"https://openalex.org/keywords/computer-graphics","display_name":"Computer graphics (images)","score":0.24193915724754333}],"concepts":[{"id":"https://openalex.org/C125907379","wikidata":"https://www.wikidata.org/wiki/Q4851537","display_name":"Ballast","level":2,"score":0.9726894497871399},{"id":"https://openalex.org/C168820333","wikidata":"https://www.wikidata.org/wiki/Q448889","display_name":"Visual inspection","level":2,"score":0.7384186387062073},{"id":"https://openalex.org/C31487907","wikidata":"https://www.wikidata.org/wiki/Q1154597","display_name":"Polygon mesh","level":2,"score":0.6813980340957642},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6726664900779724},{"id":"https://openalex.org/C199104240","wikidata":"https://www.wikidata.org/wiki/Q118291","display_name":"Marine engineering","level":1,"score":0.639178454875946},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.6111820936203003},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.545533299446106},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.46332117915153503},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.43592849373817444},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.32805564999580383},{"id":"https://openalex.org/C121684516","wikidata":"https://www.wikidata.org/wiki/Q7600677","display_name":"Computer graphics (images)","level":1,"score":0.24193915724754333},{"id":"https://openalex.org/C119599485","wikidata":"https://www.wikidata.org/wiki/Q43035","display_name":"Electrical engineering","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icar58858.2023.10406928","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icar58858.2023.10406928","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 21st International Conference on Advanced Robotics (ICAR)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.8600000143051147,"display_name":"Life below water","id":"https://metadata.un.org/sdg/14"}],"awards":[{"id":"https://openalex.org/G7882214910","display_name":null,"funder_award_id":"321435","funder_id":"https://openalex.org/F4320323299","funder_display_name":"Norges Forskningsr\u00e5d"}],"funders":[{"id":"https://openalex.org/F4320323299","display_name":"Norges Forskningsr\u00e5d","ror":"https://ror.org/00epmv149"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":35,"referenced_works":["https://openalex.org/W1925307928","https://openalex.org/W2017708378","https://openalex.org/W2019738489","https://openalex.org/W2082022987","https://openalex.org/W2169528473","https://openalex.org/W2171792626","https://openalex.org/W2216232439","https://openalex.org/W2335414327","https://openalex.org/W2409009991","https://openalex.org/W2465948386","https://openalex.org/W2513390220","https://openalex.org/W2555498163","https://openalex.org/W2607968634","https://openalex.org/W2751641108","https://openalex.org/W3092147564","https://openalex.org/W3092218351","https://openalex.org/W3097090618","https://openalex.org/W3101153810","https://openalex.org/W3102129812","https://openalex.org/W3188525277","https://openalex.org/W3195453886","https://openalex.org/W3214103722","https://openalex.org/W4200041552","https://openalex.org/W4205712102","https://openalex.org/W4281479885","https://openalex.org/W4283786666","https://openalex.org/W4285077852","https://openalex.org/W4286277923","https://openalex.org/W4288047667","https://openalex.org/W4293233980","https://openalex.org/W4313394883","https://openalex.org/W4362503169","https://openalex.org/W4382050706","https://openalex.org/W6688367317","https://openalex.org/W6839258902"],"related_works":["https://openalex.org/W615703558","https://openalex.org/W4401899792","https://openalex.org/W1568915530","https://openalex.org/W2509236690","https://openalex.org/W324132158","https://openalex.org/W615792946","https://openalex.org/W2245161148","https://openalex.org/W2480615668","https://openalex.org/W2979011600","https://openalex.org/W2030733347"],"abstract_inverted_index":{"This":[0],"paper":[1],"presents":[2],"a":[3,28,60,69],"solution":[4],"for":[5,27,110],"the":[6,56,89],"autonomous":[7],"exploration":[8,47],"and":[9,31,76,112],"inspection":[10,51],"of":[11,16,72,88,98],"Ballast":[12,22],"Water":[13],"Tanks":[14],"(BWTs)":[15],"marine":[17],"vessels":[18],"using":[19],"aerial":[20],"robots.":[21],"tank":[23],"compartments":[24],"are":[25],"critical":[26],"vessel's":[29],"safety":[30],"correspond":[32],"to":[33,53,94],"confined":[34],"environments":[35],"often":[36],"connected":[37],"through":[38],"particularly":[39],"narrow":[40],"manholes.":[41],"The":[42,84],"method":[43],"enables":[44],"their":[45],"volumetric":[46],"combined":[48],"with":[49,106],"visual":[50],"subject":[52],"constraints":[54],"regarding":[55],"viewing":[57],"distance":[58],"from":[59,86],"surface.":[61],"We":[62],"present":[63],"evaluation":[64],"studies":[65],"in":[66,68,77],"simulation,":[67],"mission":[70],"consisting":[71],"18":[73],"BWT":[74],"compartments,":[75],"3":[78],"field":[79],"experiments":[80,90],"inside":[81],"real":[82],"vessels.":[83],"data":[85],"one":[87],"is":[91],"also":[92],"post-processed":[93],"generate":[95],"semantically-segmented":[96],"meshes":[97],"inspection-important":[99],"geometries.":[100],"Geometric":[101],"models":[102],"can":[103],"be":[104],"associated":[105],"onboard":[107],"camera":[108],"images":[109],"detailed":[111],"intuitive":[113],"analysis.":[114]},"counts_by_year":[{"year":2025,"cited_by_count":6},{"year":2024,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}