{"id":"https://openalex.org/W3089535702","doi":"https://doi.org/10.1109/icra40945.2020.9196680","title":"A Feature-Based Underwater Path Planning Approach using Multiple Perspective Prior Maps","display_name":"A Feature-Based Underwater Path Planning Approach using Multiple Perspective Prior Maps","publication_year":2020,"publication_date":"2020-05-01","ids":{"openalex":"https://openalex.org/W3089535702","doi":"https://doi.org/10.1109/icra40945.2020.9196680","mag":"3089535702"},"language":"en","primary_location":{"id":"doi:10.1109/icra40945.2020.9196680","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra40945.2020.9196680","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2020 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://eprints.qut.edu.au/207104/1/73438647.pdf","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5015002729","display_name":"Daniel Cagara","orcid":null},"institutions":[{"id":"https://openalex.org/I160993911","display_name":"Queensland University of Technology","ror":"https://ror.org/03pnv4752","country_code":"AU","type":"education","lineage":["https://openalex.org/I160993911"]}],"countries":["AU"],"is_corresponding":true,"raw_author_name":"Daniel Cagara","raw_affiliation_strings":["Queensland University of Technology, Brisbane, Australia"],"affiliations":[{"raw_affiliation_string":"Queensland University of Technology, Brisbane, Australia","institution_ids":["https://openalex.org/I160993911"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5021888447","display_name":"Matthew Dunbabin","orcid":"https://orcid.org/0000-0003-0806-7720"},"institutions":[{"id":"https://openalex.org/I160993911","display_name":"Queensland University of Technology","ror":"https://ror.org/03pnv4752","country_code":"AU","type":"education","lineage":["https://openalex.org/I160993911"]}],"countries":["AU"],"is_corresponding":false,"raw_author_name":"Matthew Dunbabin","raw_affiliation_strings":["Queensland University of Technology, Brisbane, Australia"],"affiliations":[{"raw_affiliation_string":"Queensland University of Technology, Brisbane, Australia","institution_ids":["https://openalex.org/I160993911"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5090338655","display_name":"Paul Rigby","orcid":null},"institutions":[{"id":"https://openalex.org/I1328540965","display_name":"Australian Institute of Marine Science","ror":"https://ror.org/03x57gn41","country_code":"AU","type":"facility","lineage":["https://openalex.org/I1328540965","https://openalex.org/I2801453606","https://openalex.org/I4387155966"]}],"countries":["AU"],"is_corresponding":false,"raw_author_name":"Paul Rigby","raw_affiliation_strings":["Australian Institute of Marine Science, Townsville, Australia"],"affiliations":[{"raw_affiliation_string":"Australian Institute of Marine Science, Townsville, Australia","institution_ids":["https://openalex.org/I1328540965"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5015002729"],"corresponding_institution_ids":["https://openalex.org/I160993911"],"apc_list":null,"apc_paid":null,"fwci":1.627,"has_fulltext":true,"cited_by_count":1,"citation_normalized_percentile":{"value":0.92681167,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":90,"max":94},"biblio":{"volume":"30","issue":null,"first_page":"8573","last_page":"8579"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9994000196456909,"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":0.9994000196456909,"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":0.9994000196456909,"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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9983999729156494,"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/bathymetry","display_name":"Bathymetry","score":0.8456825017929077},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.736728310585022},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7040444612503052},{"id":"https://openalex.org/keywords/underwater","display_name":"Underwater","score":0.6801711320877075},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.5194589495658875},{"id":"https://openalex.org/keywords/graph","display_name":"Graph","score":0.4973495304584503},{"id":"https://openalex.org/keywords/perspective","display_name":"Perspective (graphical)","score":0.4969315826892853},{"id":"https://openalex.org/keywords/prior-information","display_name":"Prior information","score":0.495291143655777},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.4936548173427582},{"id":"https://openalex.org/keywords/feature","display_name":"Feature (linguistics)","score":0.44410115480422974},{"id":"https://openalex.org/keywords/bathymetric-chart","display_name":"Bathymetric chart","score":0.4264652729034424},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.4213297665119171},{"id":"https://openalex.org/keywords/set","display_name":"Set (abstract data type)","score":0.4203546643257141},{"id":"https://openalex.org/keywords/data-mining","display_name":"Data mining","score":0.35869938135147095},{"id":"https://openalex.org/keywords/geology","display_name":"Geology","score":0.19534242153167725},{"id":"https://openalex.org/keywords/geography","display_name":"Geography","score":0.17545264959335327},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.14358291029930115},{"id":"https://openalex.org/keywords/cartography","display_name":"Cartography","score":0.13595253229141235},{"id":"https://openalex.org/keywords/theoretical-computer-science","display_name":"Theoretical computer science","score":0.12207269668579102}],"concepts":[{"id":"https://openalex.org/C174943157","wikidata":"https://www.wikidata.org/wiki/Q810826","display_name":"Bathymetry","level":2,"score":0.8456825017929077},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.736728310585022},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7040444612503052},{"id":"https://openalex.org/C98083399","wikidata":"https://www.wikidata.org/wiki/Q3246517","display_name":"Underwater","level":2,"score":0.6801711320877075},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.5194589495658875},{"id":"https://openalex.org/C132525143","wikidata":"https://www.wikidata.org/wiki/Q141488","display_name":"Graph","level":2,"score":0.4973495304584503},{"id":"https://openalex.org/C12713177","wikidata":"https://www.wikidata.org/wiki/Q1900281","display_name":"Perspective (graphical)","level":2,"score":0.4969315826892853},{"id":"https://openalex.org/C3020402766","wikidata":"https://www.wikidata.org/wiki/Q104376712","display_name":"Prior information","level":2,"score":0.495291143655777},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4936548173427582},{"id":"https://openalex.org/C2776401178","wikidata":"https://www.wikidata.org/wiki/Q12050496","display_name":"Feature (linguistics)","level":2,"score":0.44410115480422974},{"id":"https://openalex.org/C138845058","wikidata":"https://www.wikidata.org/wiki/Q2915844","display_name":"Bathymetric chart","level":3,"score":0.4264652729034424},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.4213297665119171},{"id":"https://openalex.org/C177264268","wikidata":"https://www.wikidata.org/wiki/Q1514741","display_name":"Set (abstract data type)","level":2,"score":0.4203546643257141},{"id":"https://openalex.org/C124101348","wikidata":"https://www.wikidata.org/wiki/Q172491","display_name":"Data mining","level":1,"score":0.35869938135147095},{"id":"https://openalex.org/C127313418","wikidata":"https://www.wikidata.org/wiki/Q1069","display_name":"Geology","level":0,"score":0.19534242153167725},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.17545264959335327},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.14358291029930115},{"id":"https://openalex.org/C58640448","wikidata":"https://www.wikidata.org/wiki/Q42515","display_name":"Cartography","level":1,"score":0.13595253229141235},{"id":"https://openalex.org/C80444323","wikidata":"https://www.wikidata.org/wiki/Q2878974","display_name":"Theoretical computer science","level":1,"score":0.12207269668579102},{"id":"https://openalex.org/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","level":2,"score":0.0},{"id":"https://openalex.org/C111368507","wikidata":"https://www.wikidata.org/wiki/Q43518","display_name":"Oceanography","level":1,"score":0.0},{"id":"https://openalex.org/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","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},{"id":"https://openalex.org/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","level":1,"score":0.0},{"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/C41895202","wikidata":"https://www.wikidata.org/wiki/Q8162","display_name":"Linguistics","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/icra40945.2020.9196680","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra40945.2020.9196680","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2020 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"},{"id":"pmh:oai:eprints.qut.edu.au:207104","is_oa":true,"landing_page_url":null,"pdf_url":"https://eprints.qut.edu.au/207104/1/73438647.pdf","source":{"id":"https://openalex.org/S4306402607","display_name":"QUT ePrints (Queensland University of Technology)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I160993911","host_organization_name":"Queensland University of Technology","host_organization_lineage":["https://openalex.org/I160993911"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Proceedings of the 2020 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"Chapter in Book, Report or Conference volume"}],"best_oa_location":{"id":"pmh:oai:eprints.qut.edu.au:207104","is_oa":true,"landing_page_url":null,"pdf_url":"https://eprints.qut.edu.au/207104/1/73438647.pdf","source":{"id":"https://openalex.org/S4306402607","display_name":"QUT ePrints (Queensland University of Technology)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I160993911","host_organization_name":"Queensland University of Technology","host_organization_lineage":["https://openalex.org/I160993911"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Proceedings of the 2020 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"Chapter in Book, Report or Conference volume"},"sustainable_development_goals":[{"score":0.75,"display_name":"Life below water","id":"https://metadata.un.org/sdg/14"}],"awards":[],"funders":[],"has_content":{"pdf":true,"grobid_xml":true},"content_urls":{"pdf":"https://content.openalex.org/works/W3089535702.pdf","grobid_xml":"https://content.openalex.org/works/W3089535702.grobid-xml"},"referenced_works_count":30,"referenced_works":["https://openalex.org/W1501966803","https://openalex.org/W1504469936","https://openalex.org/W1533650545","https://openalex.org/W1552847636","https://openalex.org/W1686810756","https://openalex.org/W1903029394","https://openalex.org/W2005115267","https://openalex.org/W2073307421","https://openalex.org/W2108598243","https://openalex.org/W2110405746","https://openalex.org/W2112669647","https://openalex.org/W2113685147","https://openalex.org/W2116912458","https://openalex.org/W2121013842","https://openalex.org/W2141734948","https://openalex.org/W2145451994","https://openalex.org/W2155893237","https://openalex.org/W2169528473","https://openalex.org/W2323652230","https://openalex.org/W2415009525","https://openalex.org/W2593915460","https://openalex.org/W2615547864","https://openalex.org/W2901136733","https://openalex.org/W2963351448","https://openalex.org/W6631682757","https://openalex.org/W6633056533","https://openalex.org/W6637373629","https://openalex.org/W6701021095","https://openalex.org/W6734375575","https://openalex.org/W6756486208"],"related_works":["https://openalex.org/W3139285078","https://openalex.org/W2953657035","https://openalex.org/W1554035627","https://openalex.org/W2163479636","https://openalex.org/W4400223333","https://openalex.org/W1880867001","https://openalex.org/W1507466684","https://openalex.org/W4312367373","https://openalex.org/W1500116894","https://openalex.org/W234016819"],"abstract_inverted_index":{"This":[0],"paper":[1],"presents":[2],"a":[3,45,83,154,169],"path":[4],"planning":[5],"methodology":[6],"which":[7,51,91,113],"enables":[8],"Autonomous":[9],"Underwater":[10],"Vehicles":[11],"(AUVs)":[12],"to":[13,61,117,121,140],"navigate":[14],"in":[15],"shallow":[16],"complex":[17],"environments":[18],"such":[19],"as":[20,125],"coral":[21],"reefs.":[22],"The":[23,149],"approach":[24,150,165],"leverages":[25],"prior":[26,43,180],"information":[27,36],"from":[28,82,99,144,178],"an":[29,53],"aerial":[30],"photographic":[31],"survey,":[32],"and":[33,58,104,158],"derived":[34],"bathymetric":[35],"of":[37,47,56,79,85,95,102,135,163,173],"the":[38,65,77,89,93,96,115,122,133,161,164,179],"corresponding":[39],"area.":[40],"From":[41],"these":[42],"maps,":[44],"set":[46,84],"features":[48,80,137,174],"is":[49,72,111,151],"obtained":[50],"define":[52],"expected":[54],"arrangement":[55,78],"objects":[57],"bathymetry":[59],"likely":[60],"be":[62,176],"perceived":[63],"by":[64,75],"AUV":[66,116],"when":[67,167],"underwater.":[68],"A":[69,107],"navigation":[70,123],"graph":[71,124],"then":[73],"constructed":[74],"predicting":[76],"visible":[81],"test":[86],"points":[87],"within":[88],"prior,":[90],"allows":[92,114],"calculation":[94],"shortest":[97],"paths":[98],"any":[100],"pair":[101],"start":[103],"destination":[105],"points.":[106],"maximum":[108],"likelihood":[109],"function":[110],"defined":[112],"match":[118],"its":[119,128],"observations":[120],"it":[126],"undertakes":[127],"mission.":[129],"To":[130],"improve":[131],"robustness,":[132],"history":[134],"observed":[136],"are":[138],"retained":[139],"facilitate":[141],"possible":[142],"recovery":[143],"non-detectable":[145],"or":[146],"misclassified":[147],"objects.":[148],"evaluated":[152],"using":[153],"photo-realistic":[155],"simulated":[156],"environment,":[157],"results":[159],"illustrate":[160],"merits":[162],"even":[166],"only":[168],"relatively":[170],"small":[171],"number":[172],"can":[175],"identified":[177],"map.":[181]},"counts_by_year":[{"year":2022,"cited_by_count":1}],"updated_date":"2026-04-04T16:13:02.066488","created_date":"2025-10-10T00:00:00"}
