{"id":"https://openalex.org/W4281716124","doi":"https://doi.org/10.1109/icarsc55462.2022.9784771","title":"Real-time Vision Based Obstacle Detection in Maritime Environments","display_name":"Real-time Vision Based Obstacle Detection in Maritime Environments","publication_year":2022,"publication_date":"2022-04-29","ids":{"openalex":"https://openalex.org/W4281716124","doi":"https://doi.org/10.1109/icarsc55462.2022.9784771"},"language":"en","primary_location":{"id":"doi:10.1109/icarsc55462.2022.9784771","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icarsc55462.2022.9784771","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2022 IEEE International Conference on Autonomous Robot Systems and Competitions (ICARSC)","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/A5045045061","display_name":"Duarte Nunes","orcid":null},"institutions":[{"id":"https://openalex.org/I4210145666","display_name":"Embedded Systems (United States)","ror":"https://ror.org/04742eh45","country_code":"US","type":"company","lineage":["https://openalex.org/I4210145666"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Duarte Nunes","raw_affiliation_strings":["CEiiA – Centro de Engenharia e Desenvolvimento,Ocean & Space Unit – Department of Electronics & Embedded Systems,Matosinhos,Portugal","Embedded Systems, CEiiA –","Department of Electronics &","Space Unit –","Ocean &"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"CEiiA – Centro de Engenharia e Desenvolvimento,Ocean & Space Unit – Department of Electronics & Embedded Systems,Matosinhos,Portugal","institution_ids":[]},{"raw_affiliation_string":"Embedded Systems, CEiiA –","institution_ids":["https://openalex.org/I4210145666"]},{"raw_affiliation_string":"Department of Electronics &","institution_ids":[]},{"raw_affiliation_string":"Space Unit –","institution_ids":[]},{"raw_affiliation_string":"Ocean &","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5016292725","display_name":"Jo\u00e3o Fortuna","orcid":"https://orcid.org/0000-0003-4181-8354"},"institutions":[{"id":"https://openalex.org/I4210145666","display_name":"Embedded Systems (United States)","ror":"https://ror.org/04742eh45","country_code":"US","type":"company","lineage":["https://openalex.org/I4210145666"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Jo\u00e3o Fortuna","raw_affiliation_strings":["CEiiA – Centro de Engenharia e Desenvolvimento,Ocean & Space Unit – Department of Electronics & Embedded Systems,Matosinhos,Portugal","Ocean &","Department of Electronics &","Space Unit –","Embedded Systems, CEiiA –"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"CEiiA – Centro de Engenharia e Desenvolvimento,Ocean & Space Unit – Department of Electronics & Embedded Systems,Matosinhos,Portugal","institution_ids":[]},{"raw_affiliation_string":"Ocean &","institution_ids":[]},{"raw_affiliation_string":"Department of Electronics &","institution_ids":[]},{"raw_affiliation_string":"Space Unit –","institution_ids":[]},{"raw_affiliation_string":"Embedded Systems, CEiiA –","institution_ids":["https://openalex.org/I4210145666"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5048202355","display_name":"Bruno Damas","orcid":"https://orcid.org/0000-0001-8356-2962"},"institutions":[{"id":"https://openalex.org/I921685582","display_name":"Portuguese Naval School","ror":"https://ror.org/01ev6gy70","country_code":"PT","type":"education","lineage":["https://openalex.org/I921685582"]},{"id":"https://openalex.org/I285663978","display_name":"Weatherford College","ror":"https://ror.org/02xwsbr93","country_code":"US","type":"education","lineage":["https://openalex.org/I285663978"]},{"id":"https://openalex.org/I4210166615","display_name":"INESC TEC","ror":"https://ror.org/05fa8ka61","country_code":"PT","type":"nonprofit","lineage":["https://openalex.org/I4210125590","https://openalex.org/I4210166615"]}],"countries":["PT","US"],"is_corresponding":false,"raw_author_name":"Bruno Damas","raw_affiliation_strings":["CINAV – Centro de Investigação Naval,Almada,Portugal","Centro de Investigaç","Institute for Systems and Robotics, Instituto Superior Té","ã","cnico, Lisbon, Portugal","CINAV –"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"CINAV – Centro de Investigação Naval,Almada,Portugal","institution_ids":["https://openalex.org/I921685582"]},{"raw_affiliation_string":"Centro de Investigaç","institution_ids":[]},{"raw_affiliation_string":"Institute for Systems and Robotics, Instituto Superior Té","institution_ids":["https://openalex.org/I4210166615"]},{"raw_affiliation_string":"ã","institution_ids":["https://openalex.org/I285663978"]},{"raw_affiliation_string":"cnico, Lisbon, Portugal","institution_ids":[]},{"raw_affiliation_string":"CINAV –","institution_ids":[]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5052413681","display_name":"Rodrigo Ventura","orcid":"https://orcid.org/0000-0002-5655-9562"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Rodrigo Ventura","raw_affiliation_strings":["Institute for Systems and Robotics, Instituto Superior Técnico,Lisbon,Portugal","cnico, Lisbon, Portugal"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institute for Systems and Robotics, Instituto Superior Técnico,Lisbon,Portugal","institution_ids":[]},{"raw_affiliation_string":"cnico, Lisbon, Portugal","institution_ids":[]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5045045061"],"corresponding_institution_ids":["https://openalex.org/I4210145666"],"apc_list":null,"apc_paid":null,"fwci":1.9068,"has_fulltext":false,"cited_by_count":14,"citation_normalized_percentile":{"value":0.8390625,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":95,"max":98},"biblio":{"volume":null,"issue":null,"first_page":"243","last_page":"248"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11622","display_name":"Maritime Navigation and Safety","score":0.9997000098228455,"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/T11622","display_name":"Maritime Navigation and Safety","score":0.9997000098228455,"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/T11192","display_name":"Underwater Vehicles and Communication Systems","score":0.9961000084877014,"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/T10036","display_name":"Advanced Neural Network Applications","score":0.9624999761581421,"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/obstacle","display_name":"Obstacle","score":0.7967967987060547},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7784035205841064},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.6511560082435608},{"id":"https://openalex.org/keywords/object-detection","display_name":"Object detection","score":0.6326581239700317},{"id":"https://openalex.org/keywords/feature","display_name":"Feature (linguistics)","score":0.5342022180557251},{"id":"https://openalex.org/keywords/lidar","display_name":"Lidar","score":0.5036265254020691},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.4896603226661682},{"id":"https://openalex.org/keywords/real-time-computing","display_name":"Real-time computing","score":0.47349414229393005},{"id":"https://openalex.org/keywords/key","display_name":"Key (lock)","score":0.4605274796485901},{"id":"https://openalex.org/keywords/feature-extraction","display_name":"Feature extraction","score":0.4530073404312134},{"id":"https://openalex.org/keywords/radar","display_name":"Radar","score":0.45260870456695557},{"id":"https://openalex.org/keywords/pattern-recognition","display_name":"Pattern recognition (psychology)","score":0.16070854663848877},{"id":"https://openalex.org/keywords/remote-sensing","display_name":"Remote sensing","score":0.1392253339290619},{"id":"https://openalex.org/keywords/telecommunications","display_name":"Telecommunications","score":0.10636782646179199}],"concepts":[{"id":"https://openalex.org/C2776650193","wikidata":"https://www.wikidata.org/wiki/Q264661","display_name":"Obstacle","level":2,"score":0.7967967987060547},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7784035205841064},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6511560082435608},{"id":"https://openalex.org/C2776151529","wikidata":"https://www.wikidata.org/wiki/Q3045304","display_name":"Object detection","level":3,"score":0.6326581239700317},{"id":"https://openalex.org/C2776401178","wikidata":"https://www.wikidata.org/wiki/Q12050496","display_name":"Feature (linguistics)","level":2,"score":0.5342022180557251},{"id":"https://openalex.org/C51399673","wikidata":"https://www.wikidata.org/wiki/Q504027","display_name":"Lidar","level":2,"score":0.5036265254020691},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.4896603226661682},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.47349414229393005},{"id":"https://openalex.org/C26517878","wikidata":"https://www.wikidata.org/wiki/Q228039","display_name":"Key (lock)","level":2,"score":0.4605274796485901},{"id":"https://openalex.org/C52622490","wikidata":"https://www.wikidata.org/wiki/Q1026626","display_name":"Feature extraction","level":2,"score":0.4530073404312134},{"id":"https://openalex.org/C554190296","wikidata":"https://www.wikidata.org/wiki/Q47528","display_name":"Radar","level":2,"score":0.45260870456695557},{"id":"https://openalex.org/C153180895","wikidata":"https://www.wikidata.org/wiki/Q7148389","display_name":"Pattern recognition (psychology)","level":2,"score":0.16070854663848877},{"id":"https://openalex.org/C62649853","wikidata":"https://www.wikidata.org/wiki/Q199687","display_name":"Remote sensing","level":1,"score":0.1392253339290619},{"id":"https://openalex.org/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","level":1,"score":0.10636782646179199},{"id":"https://openalex.org/C38652104","wikidata":"https://www.wikidata.org/wiki/Q3510521","display_name":"Computer security","level":1,"score":0.0},{"id":"https://openalex.org/C127313418","wikidata":"https://www.wikidata.org/wiki/Q1069","display_name":"Geology","level":0,"score":0.0},{"id":"https://openalex.org/C41895202","wikidata":"https://www.wikidata.org/wiki/Q8162","display_name":"Linguistics","level":1,"score":0.0},{"id":"https://openalex.org/C199539241","wikidata":"https://www.wikidata.org/wiki/Q7748","display_name":"Law","level":1,"score":0.0},{"id":"https://openalex.org/C17744445","wikidata":"https://www.wikidata.org/wiki/Q36442","display_name":"Political science","level":0,"score":0.0},{"id":"https://openalex.org/C138885662","wikidata":"https://www.wikidata.org/wiki/Q5891","display_name":"Philosophy","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icarsc55462.2022.9784771","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icarsc55462.2022.9784771","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2022 IEEE International Conference on Autonomous Robot Systems and Competitions (ICARSC)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/14","display_name":"Life below water","score":0.6200000047683716}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":37,"referenced_works":["https://openalex.org/W639708223","https://openalex.org/W1648066580","https://openalex.org/W1940215497","https://openalex.org/W2032133542","https://openalex.org/W2074178868","https://openalex.org/W2074547849","https://openalex.org/W2102605133","https://openalex.org/W2160709078","https://openalex.org/W2170028911","https://openalex.org/W2252355370","https://openalex.org/W2763450331","https://openalex.org/W2787889241","https://openalex.org/W2795023265","https://openalex.org/W2885291434","https://openalex.org/W2890085338","https://openalex.org/W2897477155","https://openalex.org/W2910194729","https://openalex.org/W2963037989","https://openalex.org/W3018757597","https://openalex.org/W3084173793","https://openalex.org/W3106250896","https://openalex.org/W3111608923","https://openalex.org/W3135895574","https://openalex.org/W3173433277","https://openalex.org/W3180134609","https://openalex.org/W3181199966","https://openalex.org/W4286904999","https://openalex.org/W6602267080","https://openalex.org/W6620707391","https://openalex.org/W6628973269","https://openalex.org/W6631782140","https://openalex.org/W6675026286","https://openalex.org/W6691241951","https://openalex.org/W6748581855","https://openalex.org/W6777046832","https://openalex.org/W6785652829","https://openalex.org/W6785808489"],"related_works":["https://openalex.org/W4319317934","https://openalex.org/W2901265155","https://openalex.org/W2956374172","https://openalex.org/W4319837668","https://openalex.org/W4308071650","https://openalex.org/W3188333020","https://openalex.org/W1964041166","https://openalex.org/W4390887692","https://openalex.org/W4210818033","https://openalex.org/W4221065211"],"abstract_inverted_index":{"Automatic":[0],"obstacle":[1,25,146],"detection":[2,26,45,58,122,133,147],"is":[3],"a":[4,14,138],"key":[5],"feature":[6],"for":[7],"unmanned":[8],"surface":[9],"vehicles":[10],"(USV)":[11],"operating":[12],"in":[13,27,51,148],"fully":[15],"autonomous":[16],"manner.":[17],"While":[18],"there":[19],"are":[20],"currently":[21],"many":[22],"approaches":[23],"to":[24,37,42,74,93,121,145],"maritime":[28,102],"environments":[29],"(e.g.,":[30],"LiDAR,":[31],"radar)":[32],"the":[33,44,89,108,112,117,131],"proposed":[34],"approach":[35,144],"resorts":[36],"standard,":[38],"inexpensive":[39,143],"RGB":[40],"cameras":[41],"perform":[43],"of":[46,97],"such":[47],"obstacles.":[48],"Recent":[49],"advances":[50],"deep":[52],"neural":[53],"network":[54,92,110],"detectors":[55],"achieve":[56,64],"state-of-the-art":[57],"results,":[59],"and":[60,124,142],"some":[61],"one-stage":[62],"networks":[63],"very":[65],"good":[66],"results":[67],"while":[68],"maintaining":[69],"inference":[70],"times":[71],"small":[72],"enough":[73],"be":[75,136],"compatible":[76],"with":[77,119],"real-time":[78,125],"capabilities":[79],"on":[80,111],"low-cost":[81],"embedded":[82],"processing":[83,113,126],"units.In":[84],"this":[85],"paper,":[86],"we":[87,106],"train":[88],"YOLO":[90],"v4":[91],"detect":[94],"different":[95],"types":[96],"ships,":[98],"using":[99],"publicly":[100],"available":[101],"datasets.":[103],"After":[104],"training,":[105],"evaluate":[107],"obtained":[109],"unit":[114],"located":[115],"onboard":[116],"UAV":[118],"respect":[120],"accuracy":[123],"capability,":[127],"thus":[128],"demonstrating":[129],"that":[130],"presented":[132],"method":[134],"can":[135],"considered":[137],"robust,":[139],"fast,":[140],"flexible,":[141],"USV":[149],"applications.":[150]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":2},{"year":2024,"cited_by_count":5},{"year":2023,"cited_by_count":6}],"updated_date":"2026-05-06T08:25:59.206177","created_date":"2025-10-10T00:00:00"}