{"id":"https://openalex.org/W2736740018","doi":"https://doi.org/10.1109/icra.2017.7989672","title":"Underwater cave mapping using stereo vision","display_name":"Underwater cave mapping using stereo vision","publication_year":2017,"publication_date":"2017-05-01","ids":{"openalex":"https://openalex.org/W2736740018","doi":"https://doi.org/10.1109/icra.2017.7989672","mag":"2736740018"},"language":"en","primary_location":{"id":"doi:10.1109/icra.2017.7989672","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2017.7989672","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2017 IEEE International Conference on Robotics and Automation (ICRA)","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/A5060148745","display_name":"Nick Weidner","orcid":null},"institutions":[{"id":"https://openalex.org/I155781252","display_name":"University of South Carolina","ror":"https://ror.org/02b6qw903","country_code":"US","type":"education","lineage":["https://openalex.org/I155781252"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Nick Weidner","raw_affiliation_strings":["Computer Science and Engineering Department, University of South Carolina, Columbia, SC, USA"],"affiliations":[{"raw_affiliation_string":"Computer Science and Engineering Department, University of South Carolina, Columbia, SC, USA","institution_ids":["https://openalex.org/I155781252"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5084373629","display_name":"Sharmin Rahman","orcid":"https://orcid.org/0000-0002-4343-9561"},"institutions":[{"id":"https://openalex.org/I155781252","display_name":"University of South Carolina","ror":"https://ror.org/02b6qw903","country_code":"US","type":"education","lineage":["https://openalex.org/I155781252"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Sharmin Rahman","raw_affiliation_strings":["Computer Science and Engineering Department, University of South Carolina, Columbia, SC, USA"],"affiliations":[{"raw_affiliation_string":"Computer Science and Engineering Department, University of South Carolina, Columbia, SC, USA","institution_ids":["https://openalex.org/I155781252"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5077241133","display_name":"Alberto Quattrini Li","orcid":"https://orcid.org/0000-0002-4094-9793"},"institutions":[{"id":"https://openalex.org/I155781252","display_name":"University of South Carolina","ror":"https://ror.org/02b6qw903","country_code":"US","type":"education","lineage":["https://openalex.org/I155781252"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Alberto Quattrini Li","raw_affiliation_strings":["Computer Science and Engineering Department, University of South Carolina, Columbia, SC, USA"],"affiliations":[{"raw_affiliation_string":"Computer Science and Engineering Department, University of South Carolina, Columbia, SC, USA","institution_ids":["https://openalex.org/I155781252"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5088614516","display_name":"Ioannis Rekleitis","orcid":"https://orcid.org/0000-0002-0655-224X"},"institutions":[{"id":"https://openalex.org/I155781252","display_name":"University of South Carolina","ror":"https://ror.org/02b6qw903","country_code":"US","type":"education","lineage":["https://openalex.org/I155781252"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Ioannis Rekleitis","raw_affiliation_strings":["Computer Science and Engineering Department, University of South Carolina, Columbia, SC, USA"],"affiliations":[{"raw_affiliation_string":"Computer Science and Engineering Department, University of South Carolina, Columbia, SC, USA","institution_ids":["https://openalex.org/I155781252"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5060148745"],"corresponding_institution_ids":["https://openalex.org/I155781252"],"apc_list":null,"apc_paid":null,"fwci":14.4781,"has_fulltext":false,"cited_by_count":58,"citation_normalized_percentile":{"value":0.98822525,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":97,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"5709","last_page":"5715"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9997000098228455,"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"}},"topics":[{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9997000098228455,"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/T11211","display_name":"3D Surveying and Cultural Heritage","score":0.9995999932289124,"subfield":{"id":"https://openalex.org/subfields/1907","display_name":"Geology"},"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/T10531","display_name":"Advanced Vision and Imaging","score":0.996399998664856,"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/cave","display_name":"Cave","score":0.8076537847518921},{"id":"https://openalex.org/keywords/underwater","display_name":"Underwater","score":0.7334173917770386},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6026861071586609},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5936670303344727},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.5875606536865234},{"id":"https://openalex.org/keywords/stereopsis","display_name":"Stereopsis","score":0.46391645073890686},{"id":"https://openalex.org/keywords/intersection","display_name":"Intersection (aeronautics)","score":0.4612419009208679},{"id":"https://openalex.org/keywords/geology","display_name":"Geology","score":0.4608592092990875},{"id":"https://openalex.org/keywords/visual-odometry","display_name":"Visual odometry","score":0.4325104355812073},{"id":"https://openalex.org/keywords/stereo-imaging","display_name":"Stereo imaging","score":0.42247509956359863},{"id":"https://openalex.org/keywords/machine-vision","display_name":"Machine vision","score":0.41633424162864685},{"id":"https://openalex.org/keywords/computer-graphics","display_name":"Computer graphics (images)","score":0.3247431814670563},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.2541089355945587},{"id":"https://openalex.org/keywords/archaeology","display_name":"Archaeology","score":0.22482404112815857},{"id":"https://openalex.org/keywords/geography","display_name":"Geography","score":0.20597949624061584},{"id":"https://openalex.org/keywords/cartography","display_name":"Cartography","score":0.12584048509597778}],"concepts":[{"id":"https://openalex.org/C171878925","wikidata":"https://www.wikidata.org/wiki/Q35509","display_name":"Cave","level":2,"score":0.8076537847518921},{"id":"https://openalex.org/C98083399","wikidata":"https://www.wikidata.org/wiki/Q3246517","display_name":"Underwater","level":2,"score":0.7334173917770386},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6026861071586609},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5936670303344727},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.5875606536865234},{"id":"https://openalex.org/C68537008","wikidata":"https://www.wikidata.org/wiki/Q247932","display_name":"Stereopsis","level":2,"score":0.46391645073890686},{"id":"https://openalex.org/C64543145","wikidata":"https://www.wikidata.org/wiki/Q162942","display_name":"Intersection (aeronautics)","level":2,"score":0.4612419009208679},{"id":"https://openalex.org/C127313418","wikidata":"https://www.wikidata.org/wiki/Q1069","display_name":"Geology","level":0,"score":0.4608592092990875},{"id":"https://openalex.org/C5799516","wikidata":"https://www.wikidata.org/wiki/Q4110915","display_name":"Visual odometry","level":3,"score":0.4325104355812073},{"id":"https://openalex.org/C2776122016","wikidata":"https://www.wikidata.org/wiki/Q7611221","display_name":"Stereo imaging","level":2,"score":0.42247509956359863},{"id":"https://openalex.org/C5339829","wikidata":"https://www.wikidata.org/wiki/Q1425977","display_name":"Machine vision","level":2,"score":0.41633424162864685},{"id":"https://openalex.org/C121684516","wikidata":"https://www.wikidata.org/wiki/Q7600677","display_name":"Computer graphics (images)","level":1,"score":0.3247431814670563},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.2541089355945587},{"id":"https://openalex.org/C166957645","wikidata":"https://www.wikidata.org/wiki/Q23498","display_name":"Archaeology","level":1,"score":0.22482404112815857},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.20597949624061584},{"id":"https://openalex.org/C58640448","wikidata":"https://www.wikidata.org/wiki/Q42515","display_name":"Cartography","level":1,"score":0.12584048509597778},{"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/icra.2017.7989672","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2017.7989672","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2017 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.7099999785423279,"display_name":"Life below water","id":"https://metadata.un.org/sdg/14"}],"awards":[],"funders":[{"id":"https://openalex.org/F4320306076","display_name":"National Science Foundation","ror":"https://ror.org/021nxhr62"},{"id":"https://openalex.org/F4320310846","display_name":"University of South Carolina","ror":"https://ror.org/02b6qw903"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":57,"referenced_works":["https://openalex.org/W4858172","https://openalex.org/W305046309","https://openalex.org/W562884942","https://openalex.org/W612478963","https://openalex.org/W1612997784","https://openalex.org/W1677409904","https://openalex.org/W1970504153","https://openalex.org/W1988708442","https://openalex.org/W2001164479","https://openalex.org/W2012502327","https://openalex.org/W2014796651","https://openalex.org/W2017063796","https://openalex.org/W2020950478","https://openalex.org/W2032327050","https://openalex.org/W2045091803","https://openalex.org/W2081716160","https://openalex.org/W2088043574","https://openalex.org/W2097404725","https://openalex.org/W2097941280","https://openalex.org/W2105708895","https://openalex.org/W2117248802","https://openalex.org/W2121834606","https://openalex.org/W2130103520","https://openalex.org/W2133294759","https://openalex.org/W2138673322","https://openalex.org/W2144670084","https://openalex.org/W2145023731","https://openalex.org/W2151290401","https://openalex.org/W2151958281","https://openalex.org/W2154579839","https://openalex.org/W2155474167","https://openalex.org/W2163419695","https://openalex.org/W2168078548","https://openalex.org/W2168545424","https://openalex.org/W2207585345","https://openalex.org/W2429560406","https://openalex.org/W2471962767","https://openalex.org/W2514964548","https://openalex.org/W2549648144","https://openalex.org/W2599972759","https://openalex.org/W3103648783","https://openalex.org/W4229511705","https://openalex.org/W4243425824","https://openalex.org/W4249074720","https://openalex.org/W4251710560","https://openalex.org/W4255276933","https://openalex.org/W4300840576","https://openalex.org/W6600195728","https://openalex.org/W6610704815","https://openalex.org/W6618872416","https://openalex.org/W6637400245","https://openalex.org/W6674600232","https://openalex.org/W6679388247","https://openalex.org/W6679824321","https://openalex.org/W6729759952","https://openalex.org/W6734897537","https://openalex.org/W7052830284"],"related_works":["https://openalex.org/W2020803452","https://openalex.org/W2100745878","https://openalex.org/W2789598825","https://openalex.org/W307265996","https://openalex.org/W1996607752","https://openalex.org/W2586865267","https://openalex.org/W4311006190","https://openalex.org/W128884630","https://openalex.org/W3155355575","https://openalex.org/W2589854587"],"abstract_inverted_index":{"This":[0],"paper":[1],"presents":[2,82],"a":[3,45,113,117,145,157,177],"systematic":[4],"approach":[5,111,122],"for":[6,20,64,99],"the":[7,76,86,102,124,127,130,133,142,150,160,170,181],"3-D":[8],"mapping":[9,81],"of":[10,14,24,88,90,101,126,129,144,149,159,180],"underwater":[11,15,77],"caves.":[12],"Exploration":[13],"caves":[16],"is":[17,44,60,119],"very":[18],"important":[19],"furthering":[21],"our":[22,32,188],"understanding":[23],"hydrogeology,":[25],"managing":[26],"efficiently":[27],"water":[28],"resources,":[29],"and":[30,52,93,116,138],"advancing":[31],"knowledge":[33],"in":[34,85,97,141,199],"marine":[35],"archaeology.":[36],"Underwater":[37],"cave":[38,80,134,191],"exploration":[39],"by":[40],"human":[41],"divers":[42],"however,":[43],"tedious,":[46],"labor":[47],"intensive,":[48],"extremely":[49],"dangerous":[50],"operation,":[51],"requires":[53],"highly":[54],"skilled":[55],"people.":[56],"As":[57],"such,":[58],"it":[59],"an":[61,196],"excellent":[62],"fit":[63],"robotic":[65],"technology,":[66],"which":[67],"has":[68],"never":[69],"before":[70],"been":[71],"addressed.":[72],"In":[73],"addition":[74],"to":[75],"vision":[78],"constraints,":[79],"extra":[83],"challenges":[84],"form":[87],"lack":[89],"natural":[91],"illumination":[92],"harsh":[94],"contrasts,":[95],"resulting":[96,140],"failure":[98],"most":[100],"state-of-the-art":[103],"visual":[104,162],"based":[105],"state":[106,158],"estimation":[107],"packages.":[108],"A":[109],"new":[110],"employing":[112],"stereo":[114,171],"camera":[115],"video-light":[118,131],"presented.":[120],"Our":[121],"utilizes":[123],"intersection":[125],"cone":[128],"with":[132],"boundaries:":[135],"walls,":[136],"floor,":[137],"ceiling,":[139],"construction":[143],"wire":[146],"frame":[147],"outline":[148],"cave.":[151],"Successive":[152],"frames":[153],"are":[154],"combined":[155],"using":[156],"art":[161],"odometry":[163],"algorithm":[164],"while":[165],"simultaneously":[166],"inferring":[167],"scale":[168],"through":[169],"reconstruction.":[172],"Results":[173],"from":[174],"experiments":[175],"at":[176],"cave,":[178],"part":[179],"Sistema":[182],"Camilo,":[183],"Quintana":[184],"Roo,":[185],"Mexico,":[186],"validate":[187],"approach.":[189],"The":[190],"wall":[192],"reconstruction":[193],"presented":[194],"provides":[195],"immersive":[197],"experience":[198],"3-D.":[200]},"counts_by_year":[{"year":2025,"cited_by_count":6},{"year":2024,"cited_by_count":6},{"year":2023,"cited_by_count":4},{"year":2022,"cited_by_count":8},{"year":2021,"cited_by_count":8},{"year":2020,"cited_by_count":13},{"year":2019,"cited_by_count":6},{"year":2018,"cited_by_count":7}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}