{"id":"https://openalex.org/W3090077032","doi":"https://doi.org/10.1109/icra40945.2020.9196939","title":"Active SLAM using 3D Submap Saliency for Underwater Volumetric Exploration","display_name":"Active SLAM using 3D Submap Saliency for Underwater Volumetric Exploration","publication_year":2020,"publication_date":"2020-05-01","ids":{"openalex":"https://openalex.org/W3090077032","doi":"https://doi.org/10.1109/icra40945.2020.9196939","mag":"3090077032"},"language":"en","primary_location":{"id":"doi:10.1109/icra40945.2020.9196939","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra40945.2020.9196939","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":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5026970635","display_name":"Sudharshan Suresh","orcid":"https://orcid.org/0000-0001-9030-2800"},"institutions":[{"id":"https://openalex.org/I74973139","display_name":"Carnegie Mellon University","ror":"https://ror.org/05x2bcf33","country_code":"US","type":"education","lineage":["https://openalex.org/I74973139"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Sudharshan Suresh","raw_affiliation_strings":["Robotics Institute, Carnegie Mellon University, Pittsburgh, PA, USA"],"affiliations":[{"raw_affiliation_string":"Robotics Institute, Carnegie Mellon University, Pittsburgh, PA, USA","institution_ids":["https://openalex.org/I74973139"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5109581860","display_name":"Paloma Sodhi","orcid":null},"institutions":[{"id":"https://openalex.org/I74973139","display_name":"Carnegie Mellon University","ror":"https://ror.org/05x2bcf33","country_code":"US","type":"education","lineage":["https://openalex.org/I74973139"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Paloma Sodhi","raw_affiliation_strings":["Robotics Institute, Carnegie Mellon University, Pittsburgh, PA, USA"],"affiliations":[{"raw_affiliation_string":"Robotics Institute, Carnegie Mellon University, Pittsburgh, PA, USA","institution_ids":["https://openalex.org/I74973139"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5083936584","display_name":"Joshua G. Mangelson","orcid":"https://orcid.org/0000-0002-0550-0368"},"institutions":[{"id":"https://openalex.org/I74973139","display_name":"Carnegie Mellon University","ror":"https://ror.org/05x2bcf33","country_code":"US","type":"education","lineage":["https://openalex.org/I74973139"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Joshua G. Mangelson","raw_affiliation_strings":["Robotics Institute, Carnegie Mellon University, Pittsburgh, PA, USA"],"affiliations":[{"raw_affiliation_string":"Robotics Institute, Carnegie Mellon University, Pittsburgh, PA, USA","institution_ids":["https://openalex.org/I74973139"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5073562330","display_name":"David Wettergreen","orcid":"https://orcid.org/0000-0002-4262-7018"},"institutions":[{"id":"https://openalex.org/I74973139","display_name":"Carnegie Mellon University","ror":"https://ror.org/05x2bcf33","country_code":"US","type":"education","lineage":["https://openalex.org/I74973139"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"David Wettergreen","raw_affiliation_strings":["Robotics Institute, Carnegie Mellon University, Pittsburgh, PA, USA"],"affiliations":[{"raw_affiliation_string":"Robotics Institute, Carnegie Mellon University, Pittsburgh, PA, USA","institution_ids":["https://openalex.org/I74973139"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5014216861","display_name":"Michael Kaess","orcid":"https://orcid.org/0000-0002-7590-3357"},"institutions":[{"id":"https://openalex.org/I74973139","display_name":"Carnegie Mellon University","ror":"https://ror.org/05x2bcf33","country_code":"US","type":"education","lineage":["https://openalex.org/I74973139"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Michael Kaess","raw_affiliation_strings":["Robotics Institute, Carnegie Mellon University, Pittsburgh, PA, USA"],"affiliations":[{"raw_affiliation_string":"Robotics Institute, Carnegie Mellon University, Pittsburgh, PA, USA","institution_ids":["https://openalex.org/I74973139"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5026970635"],"corresponding_institution_ids":["https://openalex.org/I74973139"],"apc_list":null,"apc_paid":null,"fwci":9.6646,"has_fulltext":false,"cited_by_count":47,"citation_normalized_percentile":{"value":0.97925156,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"3132","last_page":"3138"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":1.0,"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":1.0,"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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9997000098228455,"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"}},{"id":"https://openalex.org/T11192","display_name":"Underwater Vehicles and Communication Systems","score":0.998199999332428,"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/simultaneous-localization-and-mapping","display_name":"Simultaneous localization and mapping","score":0.8740920424461365},{"id":"https://openalex.org/keywords/occupancy-grid-mapping","display_name":"Occupancy grid mapping","score":0.7156885862350464},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7054420709609985},{"id":"https://openalex.org/keywords/sonar","display_name":"Sonar","score":0.6771025657653809},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.5969846248626709},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.578962504863739},{"id":"https://openalex.org/keywords/underwater","display_name":"Underwater","score":0.5060016512870789},{"id":"https://openalex.org/keywords/graph","display_name":"Graph","score":0.474413126707077},{"id":"https://openalex.org/keywords/metric","display_name":"Metric (unit)","score":0.44959038496017456},{"id":"https://openalex.org/keywords/visualization","display_name":"Visualization","score":0.4274861216545105},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.41437920928001404},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.2660633325576782},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.1830958127975464},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.14800965785980225},{"id":"https://openalex.org/keywords/geography","display_name":"Geography","score":0.1137712299823761}],"concepts":[{"id":"https://openalex.org/C86369673","wikidata":"https://www.wikidata.org/wiki/Q1203659","display_name":"Simultaneous localization and mapping","level":4,"score":0.8740920424461365},{"id":"https://openalex.org/C57077369","wikidata":"https://www.wikidata.org/wiki/Q7075747","display_name":"Occupancy grid mapping","level":4,"score":0.7156885862350464},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7054420709609985},{"id":"https://openalex.org/C555745239","wikidata":"https://www.wikidata.org/wiki/Q133220","display_name":"Sonar","level":2,"score":0.6771025657653809},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.5969846248626709},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.578962504863739},{"id":"https://openalex.org/C98083399","wikidata":"https://www.wikidata.org/wiki/Q3246517","display_name":"Underwater","level":2,"score":0.5060016512870789},{"id":"https://openalex.org/C132525143","wikidata":"https://www.wikidata.org/wiki/Q141488","display_name":"Graph","level":2,"score":0.474413126707077},{"id":"https://openalex.org/C176217482","wikidata":"https://www.wikidata.org/wiki/Q860554","display_name":"Metric (unit)","level":2,"score":0.44959038496017456},{"id":"https://openalex.org/C36464697","wikidata":"https://www.wikidata.org/wiki/Q451553","display_name":"Visualization","level":2,"score":0.4274861216545105},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.41437920928001404},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.2660633325576782},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.1830958127975464},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.14800965785980225},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.1137712299823761},{"id":"https://openalex.org/C166957645","wikidata":"https://www.wikidata.org/wiki/Q23498","display_name":"Archaeology","level":1,"score":0.0},{"id":"https://openalex.org/C80444323","wikidata":"https://www.wikidata.org/wiki/Q2878974","display_name":"Theoretical computer science","level":1,"score":0.0},{"id":"https://openalex.org/C21547014","wikidata":"https://www.wikidata.org/wiki/Q1423657","display_name":"Operations management","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icra40945.2020.9196939","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra40945.2020.9196939","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"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Life below water","score":0.6200000047683716,"id":"https://metadata.un.org/sdg/14"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":46,"referenced_works":["https://openalex.org/W181406354","https://openalex.org/W198101923","https://openalex.org/W1896795971","https://openalex.org/W1969058260","https://openalex.org/W1993431195","https://openalex.org/W2017351261","https://openalex.org/W2020682184","https://openalex.org/W2020950478","https://openalex.org/W2045926516","https://openalex.org/W2062571523","https://openalex.org/W2097012286","https://openalex.org/W2115126368","https://openalex.org/W2115992143","https://openalex.org/W2118916896","https://openalex.org/W2128410408","https://openalex.org/W2133844819","https://openalex.org/W2137052305","https://openalex.org/W2140278933","https://openalex.org/W2143964548","https://openalex.org/W2144764737","https://openalex.org/W2144824356","https://openalex.org/W2154278348","https://openalex.org/W2154418813","https://openalex.org/W2157392310","https://openalex.org/W2160643963","https://openalex.org/W2161123599","https://openalex.org/W2171896402","https://openalex.org/W2221121938","https://openalex.org/W2296039540","https://openalex.org/W2409009991","https://openalex.org/W2488515735","https://openalex.org/W2563150812","https://openalex.org/W2567069552","https://openalex.org/W2587910283","https://openalex.org/W2739036405","https://openalex.org/W2746349752","https://openalex.org/W2798278946","https://openalex.org/W2908857594","https://openalex.org/W2910234834","https://openalex.org/W2963046720","https://openalex.org/W3103871524","https://openalex.org/W3104753760","https://openalex.org/W4231002530","https://openalex.org/W4285053689","https://openalex.org/W6607344422","https://openalex.org/W6683253545"],"related_works":["https://openalex.org/W3085844478","https://openalex.org/W2023680342","https://openalex.org/W1535005230","https://openalex.org/W4292862563","https://openalex.org/W2074515009","https://openalex.org/W2970243024","https://openalex.org/W4324290685","https://openalex.org/W4385444244","https://openalex.org/W2742702720","https://openalex.org/W2163622079"],"abstract_inverted_index":{"In":[0],"this":[1],"paper,":[2],"we":[3,52,74],"present":[4],"an":[5,34,137],"active":[6],"SLAM":[7,23,113],"framework":[8],"for":[9],"volumetric":[10,30,65],"exploration":[11,66],"of":[12,36,88],"3D":[13,77],"underwater":[14],"environments":[15],"with":[16],"multibeam":[17],"sonar.":[18],"Recent":[19],"work":[20],"in":[21,110,127],"integrated":[22,107],"and":[24,45,67,84,100,115,129,132],"planning":[25],"performs":[26],"localization":[27],"while":[28],"maintaining":[29],"free-space":[31],"information.":[32],"However,":[33],"absence":[35],"informative":[37],"loop":[38],"closures":[39,105],"can":[40],"lead":[41],"to":[42,72],"imperfect":[43],"maps,":[44],"therefore":[46],"unsafe":[47],"behavior.":[48],"To":[49,69],"solve":[50],"this,":[51],"propose":[53],"a":[54,76,86],"navigation":[55],"policy":[56],"that":[57],"reduces":[58],"vehicle":[59],"pose":[60,98],"uncertainty":[61,99],"by":[62],"balancing":[63],"between":[64],"revisitation.":[68],"identify":[70],"locations":[71],"revisit,":[73],"build":[75],"visual":[78],"dictionary":[79],"from":[80],"real-world":[81,130],"sonar":[82],"data":[83],"compute":[85],"metric":[87],"submap":[89],"saliency.":[90],"Revisit":[91],"actions":[92],"are":[93,106],"chosen":[94],"based":[95],"on":[96],"propagated":[97],"sensor":[101],"information":[102],"gain.":[103],"Loop":[104],"as":[108],"constraints":[109],"our":[111,125],"pose-graph":[112],"formulation":[114],"these":[116],"deform":[117],"the":[118,134],"global":[119],"occupancy":[120],"grid":[121],"map.":[122],"We":[123],"evaluate":[124],"performance":[126],"simulation":[128],"experiments,":[131],"highlight":[133],"advantages":[135],"over":[136],"uncertainty-agnostic":[138],"framework.":[139]},"counts_by_year":[{"year":2025,"cited_by_count":10},{"year":2024,"cited_by_count":9},{"year":2023,"cited_by_count":12},{"year":2022,"cited_by_count":11},{"year":2021,"cited_by_count":4},{"year":2020,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}