{"id":"https://openalex.org/W2223368556","doi":"https://doi.org/10.1109/icra.2016.7487424","title":"Anomaly detection in unstructured environments using Bayesian nonparametric scene modeling","display_name":"Anomaly detection in unstructured environments using Bayesian nonparametric scene modeling","publication_year":2016,"publication_date":"2016-05-01","ids":{"openalex":"https://openalex.org/W2223368556","doi":"https://doi.org/10.1109/icra.2016.7487424","mag":"2223368556"},"language":"en","primary_location":{"id":"doi:10.1109/icra.2016.7487424","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2016.7487424","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2016 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"},"type":"preprint","indexed_in":["arxiv","crossref","datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://arxiv.org/pdf/1509.07979","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5072400128","display_name":"Yogesh Girdhar","orcid":"https://orcid.org/0000-0001-9510-9639"},"institutions":[{"id":"https://openalex.org/I66958751","display_name":"Woods Hole Oceanographic Institution","ror":"https://ror.org/03zbnzt98","country_code":"US","type":"funder","lineage":["https://openalex.org/I66958751"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Yogesh Girdhar","raw_affiliation_strings":["Woods Hole Oceanographic Institution, Woods Hole, MA, USA","Woods Hole Oceanographic Institution, MA 02543 USA"],"affiliations":[{"raw_affiliation_string":"Woods Hole Oceanographic Institution, Woods Hole, MA, USA","institution_ids":["https://openalex.org/I66958751"]},{"raw_affiliation_string":"Woods Hole Oceanographic Institution, MA 02543 USA","institution_ids":["https://openalex.org/I66958751"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5045106956","display_name":"Walter Cho","orcid":null},"institutions":[{"id":"https://openalex.org/I98607628","display_name":"Point Loma Nazarene University","ror":"https://ror.org/02rsjqy82","country_code":"US","type":"education","lineage":["https://openalex.org/I98607628"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Walter Cho","raw_affiliation_strings":["Point Loma Nazarene University, San Diego, CA, USA","Point Loma Nazarene University, San Diego, CA, 92106, USA"],"affiliations":[{"raw_affiliation_string":"Point Loma Nazarene University, San Diego, CA, USA","institution_ids":["https://openalex.org/I98607628"]},{"raw_affiliation_string":"Point Loma Nazarene University, San Diego, CA, 92106, USA","institution_ids":["https://openalex.org/I98607628"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5102734814","display_name":"Matthew I. Campbell","orcid":"https://orcid.org/0000-0003-1296-6542"},"institutions":[{"id":"https://openalex.org/I1308126019","display_name":"National Oceanic and Atmospheric Administration","ror":"https://ror.org/02z5nhe81","country_code":"US","type":"funder","lineage":["https://openalex.org/I1308126019","https://openalex.org/I1343035065"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Matthew Campbell","raw_affiliation_strings":["NOAA, USA","(NOAA), USA"],"affiliations":[{"raw_affiliation_string":"NOAA, USA","institution_ids":["https://openalex.org/I1308126019"]},{"raw_affiliation_string":"(NOAA), USA","institution_ids":["https://openalex.org/I1308126019"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5074751033","display_name":"Jes\u00fas Pineda","orcid":"https://orcid.org/0000-0002-5362-8614"},"institutions":[{"id":"https://openalex.org/I66958751","display_name":"Woods Hole Oceanographic Institution","ror":"https://ror.org/03zbnzt98","country_code":"US","type":"funder","lineage":["https://openalex.org/I66958751"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Jesus Pineda","raw_affiliation_strings":["Woods Hole Oceanographic Institution, Woods Hole, MA, USA","Woods Hole Oceanographic Institution, MA 02543 USA"],"affiliations":[{"raw_affiliation_string":"Woods Hole Oceanographic Institution, Woods Hole, MA, USA","institution_ids":["https://openalex.org/I66958751"]},{"raw_affiliation_string":"Woods Hole Oceanographic Institution, MA 02543 USA","institution_ids":["https://openalex.org/I66958751"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5001096488","display_name":"Elizabeth Clarke","orcid":null},"institutions":[{"id":"https://openalex.org/I1308126019","display_name":"National Oceanic and Atmospheric Administration","ror":"https://ror.org/02z5nhe81","country_code":"US","type":"funder","lineage":["https://openalex.org/I1308126019","https://openalex.org/I1343035065"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Elizabeth Clarke","raw_affiliation_strings":["NOAA, USA","(NOAA), USA"],"affiliations":[{"raw_affiliation_string":"NOAA, USA","institution_ids":["https://openalex.org/I1308126019"]},{"raw_affiliation_string":"(NOAA), USA","institution_ids":["https://openalex.org/I1308126019"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5047246028","display_name":"Hanumant Singh","orcid":"https://orcid.org/0000-0002-4975-3244"},"institutions":[{"id":"https://openalex.org/I66958751","display_name":"Woods Hole Oceanographic Institution","ror":"https://ror.org/03zbnzt98","country_code":"US","type":"funder","lineage":["https://openalex.org/I66958751"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Hanumant Singh","raw_affiliation_strings":["Woods Hole Oceanographic Institution, Woods Hole, MA, USA","Woods Hole Oceanographic Institution, MA 02543 USA"],"affiliations":[{"raw_affiliation_string":"Woods Hole Oceanographic Institution, Woods Hole, MA, USA","institution_ids":["https://openalex.org/I66958751"]},{"raw_affiliation_string":"Woods Hole Oceanographic Institution, MA 02543 USA","institution_ids":["https://openalex.org/I66958751"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":6,"corresponding_author_ids":["https://openalex.org/A5072400128"],"corresponding_institution_ids":["https://openalex.org/I66958751"],"apc_list":null,"apc_paid":null,"fwci":0.3082,"has_fulltext":true,"cited_by_count":2,"citation_normalized_percentile":{"value":0.67444855,"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":"2651","last_page":"2656"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10659","display_name":"Marine animal studies overview","score":0.9713000059127808,"subfield":{"id":"https://openalex.org/subfields/2303","display_name":"Ecology"},"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/T10659","display_name":"Marine animal studies overview","score":0.9713000059127808,"subfield":{"id":"https://openalex.org/subfields/2303","display_name":"Ecology"},"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/T12388","display_name":"Identification and Quantification in Food","score":0.9704999923706055,"subfield":{"id":"https://openalex.org/subfields/1312","display_name":"Molecular Biology"},"field":{"id":"https://openalex.org/fields/13","display_name":"Biochemistry, Genetics and Molecular Biology"},"domain":{"id":"https://openalex.org/domains/1","display_name":"Life Sciences"}},{"id":"https://openalex.org/T10341","display_name":"Coral and Marine Ecosystems Studies","score":0.9700000286102295,"subfield":{"id":"https://openalex.org/subfields/2303","display_name":"Ecology"},"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/underwater","display_name":"Underwater","score":0.6670330762863159},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6634317636489868},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5828569531440735},{"id":"https://openalex.org/keywords/anomaly-detection","display_name":"Anomaly detection","score":0.5400396585464478},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.5353434681892395},{"id":"https://openalex.org/keywords/bayesian-probability","display_name":"Bayesian probability","score":0.5090591311454773},{"id":"https://openalex.org/keywords/terrain","display_name":"Terrain","score":0.46640175580978394},{"id":"https://openalex.org/keywords/parametric-statistics","display_name":"Parametric statistics","score":0.4554736614227295},{"id":"https://openalex.org/keywords/parametric-model","display_name":"Parametric model","score":0.4243104159832001},{"id":"https://openalex.org/keywords/remote-sensing","display_name":"Remote sensing","score":0.39756467938423157},{"id":"https://openalex.org/keywords/geology","display_name":"Geology","score":0.3958777189254761},{"id":"https://openalex.org/keywords/pattern-recognition","display_name":"Pattern recognition (psychology)","score":0.3287619650363922},{"id":"https://openalex.org/keywords/cartography","display_name":"Cartography","score":0.15883123874664307},{"id":"https://openalex.org/keywords/geography","display_name":"Geography","score":0.14205873012542725},{"id":"https://openalex.org/keywords/oceanography","display_name":"Oceanography","score":0.10123303532600403},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.0939028263092041}],"concepts":[{"id":"https://openalex.org/C98083399","wikidata":"https://www.wikidata.org/wiki/Q3246517","display_name":"Underwater","level":2,"score":0.6670330762863159},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6634317636489868},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5828569531440735},{"id":"https://openalex.org/C739882","wikidata":"https://www.wikidata.org/wiki/Q3560506","display_name":"Anomaly detection","level":2,"score":0.5400396585464478},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.5353434681892395},{"id":"https://openalex.org/C107673813","wikidata":"https://www.wikidata.org/wiki/Q812534","display_name":"Bayesian probability","level":2,"score":0.5090591311454773},{"id":"https://openalex.org/C161840515","wikidata":"https://www.wikidata.org/wiki/Q186131","display_name":"Terrain","level":2,"score":0.46640175580978394},{"id":"https://openalex.org/C117251300","wikidata":"https://www.wikidata.org/wiki/Q1849855","display_name":"Parametric statistics","level":2,"score":0.4554736614227295},{"id":"https://openalex.org/C24574437","wikidata":"https://www.wikidata.org/wiki/Q7135228","display_name":"Parametric model","level":3,"score":0.4243104159832001},{"id":"https://openalex.org/C62649853","wikidata":"https://www.wikidata.org/wiki/Q199687","display_name":"Remote sensing","level":1,"score":0.39756467938423157},{"id":"https://openalex.org/C127313418","wikidata":"https://www.wikidata.org/wiki/Q1069","display_name":"Geology","level":0,"score":0.3958777189254761},{"id":"https://openalex.org/C153180895","wikidata":"https://www.wikidata.org/wiki/Q7148389","display_name":"Pattern recognition (psychology)","level":2,"score":0.3287619650363922},{"id":"https://openalex.org/C58640448","wikidata":"https://www.wikidata.org/wiki/Q42515","display_name":"Cartography","level":1,"score":0.15883123874664307},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.14205873012542725},{"id":"https://openalex.org/C111368507","wikidata":"https://www.wikidata.org/wiki/Q43518","display_name":"Oceanography","level":1,"score":0.10123303532600403},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.0939028263092041},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.0}],"mesh":[],"locations_count":4,"locations":[{"id":"doi:10.1109/icra.2016.7487424","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2016.7487424","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2016 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"},{"id":"pmh:oai:arXiv.org:1509.07979","is_oa":true,"landing_page_url":"http://arxiv.org/abs/1509.07979","pdf_url":"https://arxiv.org/pdf/1509.07979","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"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":null,"raw_type":"text"},{"id":"mag:2223368556","is_oa":true,"landing_page_url":"http://export.arxiv.org/pdf/1509.07979","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"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.1509.07979","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.1509.07979","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"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"}],"best_oa_location":{"id":"pmh:oai:arXiv.org:1509.07979","is_oa":true,"landing_page_url":"http://arxiv.org/abs/1509.07979","pdf_url":"https://arxiv.org/pdf/1509.07979","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"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":null,"raw_type":"text"},"sustainable_development_goals":[{"score":0.8600000143051147,"id":"https://metadata.un.org/sdg/14","display_name":"Life below water"}],"awards":[],"funders":[{"id":"https://openalex.org/F4320332181","display_name":"National Oceanic and Atmospheric Administration","ror":"https://ror.org/02z5nhe81"}],"has_content":{"grobid_xml":true,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W2223368556.pdf","grobid_xml":"https://content.openalex.org/works/W2223368556.grobid-xml"},"referenced_works_count":23,"referenced_works":["https://openalex.org/W166614460","https://openalex.org/W1589362500","https://openalex.org/W1880262756","https://openalex.org/W1897550784","https://openalex.org/W2001082470","https://openalex.org/W2035866593","https://openalex.org/W2107034620","https://openalex.org/W2108082645","https://openalex.org/W2109389234","https://openalex.org/W2117228865","https://openalex.org/W2134731454","https://openalex.org/W2139413263","https://openalex.org/W2149035855","https://openalex.org/W2151103935","https://openalex.org/W2158266063","https://openalex.org/W2168359206","https://openalex.org/W2171027943","https://openalex.org/W4230892463","https://openalex.org/W6639619044","https://openalex.org/W6681769576","https://openalex.org/W6684585897","https://openalex.org/W6690265313","https://openalex.org/W6743210604"],"related_works":["https://openalex.org/W2962947528","https://openalex.org/W2598622553","https://openalex.org/W2967929619","https://openalex.org/W2971483169","https://openalex.org/W2890281182","https://openalex.org/W1979275028","https://openalex.org/W2562661008","https://openalex.org/W3185010842","https://openalex.org/W2018653658","https://openalex.org/W2791451966","https://openalex.org/W1968279806","https://openalex.org/W68719309","https://openalex.org/W2060922130","https://openalex.org/W2008153114","https://openalex.org/W1995516766","https://openalex.org/W2969076806","https://openalex.org/W1963857937","https://openalex.org/W1966887636","https://openalex.org/W2891178744","https://openalex.org/W3088989862"],"abstract_inverted_index":{"This":[0],"paper":[1],"explores":[2],"the":[3,13,32,39,59,77,96,114],"use":[4],"of":[5,15,81,91,106,113,120],"a":[6,68,72,85,92],"Bayesian":[7],"nonparametric":[8],"topic":[9],"modeling":[10],"technique":[11,34,61,98],"for":[12],"purpose":[14],"anomaly":[16],"detection":[17],"in":[18,46,71,111],"video":[19,82],"data.":[20],"We":[21],"present":[22],"results":[23],"from":[24,67,84],"two":[25],"experiments.":[26],"The":[27,54],"first":[28],"experiment":[29,56],"shows":[30,57],"that":[31,58],"proposed":[33,97],"is":[35],"automatically":[36],"able":[37,100],"characterize":[38],"underlying":[40],"terrain,":[41],"and":[42,129],"detect":[43,102],"anomalous":[44],"flora":[45],"image":[47],"data":[48,83],"collected":[49],"by":[50],"an":[51,107],"underwater":[52,108],"robot.":[53],"second":[55,78],"same":[60],"can":[62],"be":[63],"used":[64],"on":[65],"images":[66,90],"static":[69,86],"camera":[70,88],"dynamic":[73],"unstructured":[74],"environment.":[75],"In":[76],"dataset,":[79],"consisting":[80],"seafloor":[87],"capturing":[89],"busy":[93],"coral":[94],"reef,":[95],"was":[99],"to":[101,126],"all":[103],"three":[104],"instances":[105],"vehicle":[109],"passing":[110],"front":[112],"camera,":[115],"amongst":[116],"many":[117],"other":[118],"observations":[119],"fishes,":[121],"debris,":[122],"lighting":[123],"changes":[124],"due":[125],"surface":[127],"waves,":[128],"benthic":[130],"flora.":[131]},"counts_by_year":[{"year":2020,"cited_by_count":1},{"year":2019,"cited_by_count":1}],"updated_date":"2026-03-20T23:20:44.827607","created_date":"2025-10-10T00:00:00"}
