{"id":"https://openalex.org/W2908937265","doi":"https://doi.org/10.1109/icarm.2018.8610675","title":"A Convolutional Neural Network Based on Double-tower Structure for Underwater Terrain Classification","display_name":"A Convolutional Neural Network Based on Double-tower Structure for Underwater Terrain Classification","publication_year":2018,"publication_date":"2018-07-01","ids":{"openalex":"https://openalex.org/W2908937265","doi":"https://doi.org/10.1109/icarm.2018.8610675","mag":"2908937265"},"language":"en","primary_location":{"id":"doi:10.1109/icarm.2018.8610675","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icarm.2018.8610675","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2018 3rd International Conference on Advanced Robotics and Mechatronics (ICARM)","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/A5100338227","display_name":"Wei Liu","orcid":"https://orcid.org/0000-0002-2176-3643"},"institutions":[{"id":"https://openalex.org/I17145004","display_name":"Northwestern Polytechnical University","ror":"https://ror.org/01y0j0j86","country_code":"CN","type":"education","lineage":["https://openalex.org/I17145004"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Wei Liu","raw_affiliation_strings":["Research & Development Institute of Northwestern Polytechnical University in Shenzhen Northwestern Polytechnical University, Shenzhen, P.R. China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Research & Development Institute of Northwestern Polytechnical University in Shenzhen Northwestern Polytechnical University, Shenzhen, P.R. China","institution_ids":["https://openalex.org/I17145004"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5003531526","display_name":"Rongxin Cui","orcid":"https://orcid.org/0000-0002-8006-3620"},"institutions":[{"id":"https://openalex.org/I17145004","display_name":"Northwestern Polytechnical University","ror":"https://ror.org/01y0j0j86","country_code":"CN","type":"education","lineage":["https://openalex.org/I17145004"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Rongxin Cui","raw_affiliation_strings":["Research & Development Institute of Northwestern Polytechnical University in Shenzhen Northwestern Polytechnical University, Shenzhen, P.R. China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Research & Development Institute of Northwestern Polytechnical University in Shenzhen Northwestern Polytechnical University, Shenzhen, P.R. China","institution_ids":["https://openalex.org/I17145004"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5108052029","display_name":"Yang Li","orcid":"https://orcid.org/0000-0003-2925-1244"},"institutions":[{"id":"https://openalex.org/I17145004","display_name":"Northwestern Polytechnical University","ror":"https://ror.org/01y0j0j86","country_code":"CN","type":"education","lineage":["https://openalex.org/I17145004"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yang Li","raw_affiliation_strings":["Research & Development Institute of Northwestern Polytechnical University in Shenzhen Northwestern Polytechnical University, Shenzhen, P.R. China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Research & Development Institute of Northwestern Polytechnical University in Shenzhen Northwestern Polytechnical University, Shenzhen, P.R. China","institution_ids":["https://openalex.org/I17145004"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5057934854","display_name":"Shuqiang Liu","orcid":"https://orcid.org/0000-0001-7227-3997"},"institutions":[{"id":"https://openalex.org/I17145004","display_name":"Northwestern Polytechnical University","ror":"https://ror.org/01y0j0j86","country_code":"CN","type":"education","lineage":["https://openalex.org/I17145004"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Shuqiang Liu","raw_affiliation_strings":["Research & Development Institute of Northwestern Polytechnical University in Shenzhen Northwestern Polytechnical University, Shenzhen, P.R. China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Research & Development Institute of Northwestern Polytechnical University in Shenzhen Northwestern Polytechnical University, Shenzhen, P.R. China","institution_ids":["https://openalex.org/I17145004"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I17145004"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.22929936,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":"36","issue":null,"first_page":"697","last_page":"702"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11659","display_name":"Advanced Image Fusion Techniques","score":0.9979000091552734,"subfield":{"id":"https://openalex.org/subfields/2214","display_name":"Media Technology"},"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/T11659","display_name":"Advanced Image Fusion Techniques","score":0.9979000091552734,"subfield":{"id":"https://openalex.org/subfields/2214","display_name":"Media Technology"},"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/T13282","display_name":"Automated Road and Building Extraction","score":0.9951000213623047,"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/T11019","display_name":"Image Enhancement Techniques","score":0.9947999715805054,"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/convolutional-neural-network","display_name":"Convolutional neural network","score":0.8451118469238281},{"id":"https://openalex.org/keywords/terrain","display_name":"Terrain","score":0.8191941976547241},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.720770001411438},{"id":"https://openalex.org/keywords/sonar","display_name":"Sonar","score":0.7180259227752686},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.706662118434906},{"id":"https://openalex.org/keywords/underwater","display_name":"Underwater","score":0.6353258490562439},{"id":"https://openalex.org/keywords/contextual-image-classification","display_name":"Contextual image classification","score":0.5773233771324158},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.5732493996620178},{"id":"https://openalex.org/keywords/feature-extraction","display_name":"Feature extraction","score":0.5137008428573608},{"id":"https://openalex.org/keywords/artificial-neural-network","display_name":"Artificial neural network","score":0.5054643154144287},{"id":"https://openalex.org/keywords/set","display_name":"Set (abstract data type)","score":0.45040377974510193},{"id":"https://openalex.org/keywords/pattern-recognition","display_name":"Pattern recognition (psychology)","score":0.44713398814201355},{"id":"https://openalex.org/keywords/image","display_name":"Image (mathematics)","score":0.430300235748291},{"id":"https://openalex.org/keywords/geology","display_name":"Geology","score":0.1013748049736023},{"id":"https://openalex.org/keywords/geography","display_name":"Geography","score":0.08144399523735046},{"id":"https://openalex.org/keywords/cartography","display_name":"Cartography","score":0.05692145228385925}],"concepts":[{"id":"https://openalex.org/C81363708","wikidata":"https://www.wikidata.org/wiki/Q17084460","display_name":"Convolutional neural network","level":2,"score":0.8451118469238281},{"id":"https://openalex.org/C161840515","wikidata":"https://www.wikidata.org/wiki/Q186131","display_name":"Terrain","level":2,"score":0.8191941976547241},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.720770001411438},{"id":"https://openalex.org/C555745239","wikidata":"https://www.wikidata.org/wiki/Q133220","display_name":"Sonar","level":2,"score":0.7180259227752686},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.706662118434906},{"id":"https://openalex.org/C98083399","wikidata":"https://www.wikidata.org/wiki/Q3246517","display_name":"Underwater","level":2,"score":0.6353258490562439},{"id":"https://openalex.org/C75294576","wikidata":"https://www.wikidata.org/wiki/Q5165192","display_name":"Contextual image classification","level":3,"score":0.5773233771324158},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.5732493996620178},{"id":"https://openalex.org/C52622490","wikidata":"https://www.wikidata.org/wiki/Q1026626","display_name":"Feature extraction","level":2,"score":0.5137008428573608},{"id":"https://openalex.org/C50644808","wikidata":"https://www.wikidata.org/wiki/Q192776","display_name":"Artificial neural network","level":2,"score":0.5054643154144287},{"id":"https://openalex.org/C177264268","wikidata":"https://www.wikidata.org/wiki/Q1514741","display_name":"Set (abstract data type)","level":2,"score":0.45040377974510193},{"id":"https://openalex.org/C153180895","wikidata":"https://www.wikidata.org/wiki/Q7148389","display_name":"Pattern recognition (psychology)","level":2,"score":0.44713398814201355},{"id":"https://openalex.org/C115961682","wikidata":"https://www.wikidata.org/wiki/Q860623","display_name":"Image (mathematics)","level":2,"score":0.430300235748291},{"id":"https://openalex.org/C127313418","wikidata":"https://www.wikidata.org/wiki/Q1069","display_name":"Geology","level":0,"score":0.1013748049736023},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.08144399523735046},{"id":"https://openalex.org/C58640448","wikidata":"https://www.wikidata.org/wiki/Q42515","display_name":"Cartography","level":1,"score":0.05692145228385925},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0},{"id":"https://openalex.org/C111368507","wikidata":"https://www.wikidata.org/wiki/Q43518","display_name":"Oceanography","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icarm.2018.8610675","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icarm.2018.8610675","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2018 3rd International Conference on Advanced Robotics and Mechatronics (ICARM)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.6499999761581421,"id":"https://metadata.un.org/sdg/14","display_name":"Life below water"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":25,"referenced_works":["https://openalex.org/W1520380240","https://openalex.org/W1525595943","https://openalex.org/W1996979285","https://openalex.org/W2024139303","https://openalex.org/W2138395468","https://openalex.org/W2141303451","https://openalex.org/W2303829726","https://openalex.org/W2412682806","https://openalex.org/W2472919595","https://openalex.org/W2509415725","https://openalex.org/W2532801510","https://openalex.org/W2559870345","https://openalex.org/W2576300543","https://openalex.org/W2593536442","https://openalex.org/W2608391308","https://openalex.org/W2736611505","https://openalex.org/W2738710800","https://openalex.org/W2742180631","https://openalex.org/W2744198280","https://openalex.org/W2750751986","https://openalex.org/W2767512561","https://openalex.org/W3105757741","https://openalex.org/W4232280717","https://openalex.org/W6734217930","https://openalex.org/W6742752996"],"related_works":["https://openalex.org/W3199220297","https://openalex.org/W2137769200","https://openalex.org/W2070821970","https://openalex.org/W2032962400","https://openalex.org/W4399671601","https://openalex.org/W2952608638","https://openalex.org/W1996172652","https://openalex.org/W2911323905","https://openalex.org/W56094667","https://openalex.org/W2565656575"],"abstract_inverted_index":{"Terrain":[0],"classification":[1,39,113,140],"plays":[2],"a":[3,44,139],"critical":[4],"role":[5],"in":[6,11,38,145],"all":[7],"robot":[8,86],"systems":[9],"especially":[10],"unknown":[12],"environments.":[13],"In":[14,41],"recent":[15],"years,":[16],"researchers":[17],"have":[18,35],"proposed":[19],"various":[20],"algorithms":[21],"to":[22,52,96,128],"improve":[23],"the":[24,73,77,81,85,98,101,106,109,112,115],"efficiency":[25],"and":[26,62,80,105,122],"accuracy":[27],"of":[28,84,100,108,114],"terrain":[29,56,118,130],"classification.":[30,57,131],"Nevertheless,":[31],"these":[32],"methods":[33],"still":[34],"some":[36],"deficiencies":[37],"efficiency.":[40],"this":[42,146],"paper,":[43],"double-tower":[45],"convolutional":[46,102,135],"neural":[47,103,136],"network":[48,110,137],"has":[49,142],"been":[50,143],"designed":[51],"implement":[53],"end-to-end":[54,134],"underwater":[55,88],"The":[58,90],"matched":[59],"sonar":[60,78,121],"image":[61,64,67,92],"visual":[63,82,123],"constitute":[65],"an":[66,133],"pair,":[68],"which":[69],"is":[70,111],"obtained":[71],"at":[72],"same":[74],"time":[75],"by":[76],"sensor":[79,83],"or":[87],"vehicle.":[89],"corresponding":[91],"pairs":[93],"are":[94,125],"set":[95],"be":[97],"input":[99],"network,":[104],"output":[107],"terrain.":[116],"Then,":[117],"features":[119],"from":[120],"images":[124],"simultaneously":[126],"applied":[127],"achieve":[129],"Therefore,":[132],"with":[138],"function":[141],"established":[144],"paper.":[147]},"counts_by_year":[],"updated_date":"2026-06-26T08:34:08.712188","created_date":"2025-10-10T00:00:00"}