{"id":"https://openalex.org/W2891178744","doi":"https://doi.org/10.1109/icra.2018.8461148","title":"Real-Time Underwater 3D Reconstruction Using Global Context and Active Labeling","display_name":"Real-Time Underwater 3D Reconstruction Using Global Context and Active Labeling","publication_year":2018,"publication_date":"2018-05-01","ids":{"openalex":"https://openalex.org/W2891178744","doi":"https://doi.org/10.1109/icra.2018.8461148","mag":"2891178744"},"language":"en","primary_location":{"id":"doi:10.1109/icra.2018.8461148","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2018.8461148","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2018 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"},"type":"conference-paper","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/A5062465242","display_name":"Robert DeBortoli","orcid":"https://orcid.org/0000-0003-1460-1635"},"institutions":[{"id":"https://openalex.org/I131249849","display_name":"Oregon State University","ror":"https://ror.org/00ysfqy60","country_code":"US","type":"education","lineage":["https://openalex.org/I131249849"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Robert DeBortoli","raw_affiliation_strings":["Collaborative Robotics and Intelligent Systems (CoRIS) Institute, Oregon State University, Corvallis, Oregon"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Collaborative Robotics and Intelligent Systems (CoRIS) Institute, Oregon State University, Corvallis, Oregon","institution_ids":["https://openalex.org/I131249849"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5046203786","display_name":"Austin Nicolai","orcid":"https://orcid.org/0000-0003-4535-3283"},"institutions":[{"id":"https://openalex.org/I131249849","display_name":"Oregon State University","ror":"https://ror.org/00ysfqy60","country_code":"US","type":"education","lineage":["https://openalex.org/I131249849"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Austin Nicolai","raw_affiliation_strings":["Collaborative Robotics and Intelligent Systems (CoRIS) Institute, Oregon State University, Corvallis, Oregon"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Collaborative Robotics and Intelligent Systems (CoRIS) Institute, Oregon State University, Corvallis, Oregon","institution_ids":["https://openalex.org/I131249849"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5065084526","display_name":"Fuxin Li","orcid":"https://orcid.org/0000-0001-7578-9622"},"institutions":[{"id":"https://openalex.org/I131249849","display_name":"Oregon State University","ror":"https://ror.org/00ysfqy60","country_code":"US","type":"education","lineage":["https://openalex.org/I131249849"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Fuxin Li","raw_affiliation_strings":["Collaborative Robotics and Intelligent Systems (CoRIS) Institute, Oregon State University, Corvallis, Oregon"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Collaborative Robotics and Intelligent Systems (CoRIS) Institute, Oregon State University, Corvallis, Oregon","institution_ids":["https://openalex.org/I131249849"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5023976625","display_name":"Geoffrey A. Hollinger","orcid":"https://orcid.org/0000-0001-6502-8950"},"institutions":[{"id":"https://openalex.org/I131249849","display_name":"Oregon State University","ror":"https://ror.org/00ysfqy60","country_code":"US","type":"education","lineage":["https://openalex.org/I131249849"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Geoffrey A. Hollinger","raw_affiliation_strings":["Collaborative Robotics and Intelligent Systems (CoRIS) Institute, Oregon State University, Corvallis, Oregon"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Collaborative Robotics and Intelligent Systems (CoRIS) Institute, Oregon State University, Corvallis, Oregon","institution_ids":["https://openalex.org/I131249849"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I131249849"],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":7,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"1","last_page":"8"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11698","display_name":"Underwater Acoustics Research","score":0.9994999766349792,"subfield":{"id":"https://openalex.org/subfields/1910","display_name":"Oceanography"},"field":{"id":"https://openalex.org/fields/19","display_name":"Earth and Planetary Sciences"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T11698","display_name":"Underwater Acoustics Research","score":0.9994999766349792,"subfield":{"id":"https://openalex.org/subfields/1910","display_name":"Oceanography"},"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/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9991999864578247,"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/T11192","display_name":"Underwater Vehicles and Communication Systems","score":0.9986000061035156,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.8287073373794556},{"id":"https://openalex.org/keywords/sonar","display_name":"Sonar","score":0.780938982963562},{"id":"https://openalex.org/keywords/convolutional-neural-network","display_name":"Convolutional neural network","score":0.6941309571266174},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.6917790174484253},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.6060939431190491},{"id":"https://openalex.org/keywords/underwater","display_name":"Underwater","score":0.5934116244316101},{"id":"https://openalex.org/keywords/feature","display_name":"Feature (linguistics)","score":0.5631659030914307},{"id":"https://openalex.org/keywords/context","display_name":"Context (archaeology)","score":0.5534095764160156},{"id":"https://openalex.org/keywords/synthetic-aperture-sonar","display_name":"Synthetic aperture sonar","score":0.48837870359420776},{"id":"https://openalex.org/keywords/feature-extraction","display_name":"Feature extraction","score":0.4625368118286133},{"id":"https://openalex.org/keywords/frame-rate","display_name":"Frame rate","score":0.4594702124595642}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.8287073373794556},{"id":"https://openalex.org/C555745239","wikidata":"https://www.wikidata.org/wiki/Q133220","display_name":"Sonar","level":2,"score":0.780938982963562},{"id":"https://openalex.org/C81363708","wikidata":"https://www.wikidata.org/wiki/Q17084460","display_name":"Convolutional neural network","level":2,"score":0.6941309571266174},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6917790174484253},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.6060939431190491},{"id":"https://openalex.org/C98083399","wikidata":"https://www.wikidata.org/wiki/Q3246517","display_name":"Underwater","level":2,"score":0.5934116244316101},{"id":"https://openalex.org/C2776401178","wikidata":"https://www.wikidata.org/wiki/Q12050496","display_name":"Feature (linguistics)","level":2,"score":0.5631659030914307},{"id":"https://openalex.org/C2779343474","wikidata":"https://www.wikidata.org/wiki/Q3109175","display_name":"Context (archaeology)","level":2,"score":0.5534095764160156},{"id":"https://openalex.org/C181255713","wikidata":"https://www.wikidata.org/wiki/Q7662740","display_name":"Synthetic aperture sonar","level":3,"score":0.48837870359420776},{"id":"https://openalex.org/C52622490","wikidata":"https://www.wikidata.org/wiki/Q1026626","display_name":"Feature extraction","level":2,"score":0.4625368118286133},{"id":"https://openalex.org/C3261483","wikidata":"https://www.wikidata.org/wiki/Q119565","display_name":"Frame rate","level":2,"score":0.4594702124595642},{"id":"https://openalex.org/C111368507","wikidata":"https://www.wikidata.org/wiki/Q43518","display_name":"Oceanography","level":1,"score":0.0},{"id":"https://openalex.org/C151730666","wikidata":"https://www.wikidata.org/wiki/Q7205","display_name":"Paleontology","level":1,"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/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"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/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/icra.2018.8461148","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2018.8461148","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2018 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Life below water","id":"https://metadata.un.org/sdg/14","score":0.75}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":22,"referenced_works":["https://openalex.org/W2037221767","https://openalex.org/W2088043574","https://openalex.org/W2090035674","https://openalex.org/W2107402720","https://openalex.org/W2137052305","https://openalex.org/W2171792626","https://openalex.org/W2220620423","https://openalex.org/W2344693513","https://openalex.org/W2412782625","https://openalex.org/W2543633630","https://openalex.org/W2563106436","https://openalex.org/W2565686528","https://openalex.org/W2566466113","https://openalex.org/W2587886726","https://openalex.org/W2963840672","https://openalex.org/W4241266354","https://openalex.org/W6672356849","https://openalex.org/W6673179772","https://openalex.org/W6696085341","https://openalex.org/W6715287400","https://openalex.org/W6730997998","https://openalex.org/W6731479650"],"related_works":["https://openalex.org/W3085844478","https://openalex.org/W3023690138","https://openalex.org/W2742702720","https://openalex.org/W2427998058","https://openalex.org/W1504288058","https://openalex.org/W2920968682","https://openalex.org/W2079902523","https://openalex.org/W4375862528","https://openalex.org/W3083528730","https://openalex.org/W2023680342"],"abstract_inverted_index":{"In":[0],"this":[1,88],"work":[2],"we":[3,89],"develop":[4],"a":[5,47,91,105,141],"novel":[6],"framework":[7],"that":[8,96,119],"enables":[9],"the":[10,61,71,76,112],"real-time":[11,101,123],"3D":[12],"reconstruction":[13,124],"of":[14,66,73,108,143],"underwater":[15,136],"environments":[16],"using":[17],"features":[18,53,77],"from":[19],"2D":[20],"sonar":[21,38,55],"images.":[22],"Due":[23],"to":[24,51,111],"noisy":[25],"and":[26,102],"low-resolution":[27],"imagery":[28,56,99],"as":[29],"compared":[30],"with":[31],"standard":[32,67],"cameras,":[33],"automatic":[34],"feature":[35,115],"extractors":[36],"for":[37,57,114],"images":[39],"are":[40],"not":[41],"reliable":[42],"in":[43,54,78,84,100,128,140],"many":[44],"scenarios.":[45],"Thus,":[46],"human":[48],"often":[49],"needs":[50],"hand-select":[52],"environment":[58],"reconstructions.":[59],"Given":[60],"high":[62],"data":[63],"capture":[64],"rates":[65],"imaging":[68],"sonars":[69],"(on":[70],"order":[72],"20Hz),":[74],"hand-annotating":[75],"every":[79],"frame":[80],"cannot":[81],"be":[82],"done":[83],"real-time.":[85],"To":[86],"address":[87],"use":[90],"Convolutional":[92],"Neural":[93],"Network":[94],"(CNN)":[95],"analyzes":[97],"incoming":[98],"proposes":[103],"only":[104],"small":[106],"subset":[107],"high-quality":[109],"frames":[110],"user":[113],"annotation.":[116],"We":[117],"demonstrate":[118],"our":[120,135],"approach":[121],"provides":[122],"capability":[125],"without":[126],"loss":[127],"classification":[129],"performance":[130],"on":[131],"datasets":[132],"captured":[133],"onboard":[134],"vehicle":[137],"while":[138],"operating":[139],"variety":[142],"environments.":[144]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2022,"cited_by_count":2},{"year":2019,"cited_by_count":4}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}
