{"id":"https://openalex.org/W3145168903","doi":"https://doi.org/10.1109/icra48506.2021.9560737","title":"Predictive 3D Sonar Mapping of Underwater Environments via Object-specific Bayesian Inference","display_name":"Predictive 3D Sonar Mapping of Underwater Environments via Object-specific Bayesian Inference","publication_year":2021,"publication_date":"2021-05-30","ids":{"openalex":"https://openalex.org/W3145168903","doi":"https://doi.org/10.1109/icra48506.2021.9560737","mag":"3145168903"},"language":"en","primary_location":{"id":"doi:10.1109/icra48506.2021.9560737","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra48506.2021.9560737","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2021 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"},"type":"conference-paper","indexed_in":["arxiv","crossref","datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://arxiv.org/pdf/2104.03203","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5086621167","display_name":"John McConnell","orcid":"https://orcid.org/0000-0002-4742-9854"},"institutions":[{"id":"https://openalex.org/I108468826","display_name":"Stevens Institute of Technology","ror":"https://ror.org/02z43xh36","country_code":"US","type":"education","lineage":["https://openalex.org/I108468826"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"John McConnell","raw_affiliation_strings":["Stevens Institute of Technology,Department of Mechanical Engineering,Hoboken,NJ,USA,07030","STEVENS INST OF TECHNOLOGY"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Stevens Institute of Technology,Department of Mechanical Engineering,Hoboken,NJ,USA,07030","institution_ids":["https://openalex.org/I108468826"]},{"raw_affiliation_string":"STEVENS INST OF TECHNOLOGY","institution_ids":["https://openalex.org/I108468826"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5044251670","display_name":"Brendan Englot","orcid":"https://orcid.org/0000-0002-7966-2917"},"institutions":[{"id":"https://openalex.org/I108468826","display_name":"Stevens Institute of Technology","ror":"https://ror.org/02z43xh36","country_code":"US","type":"education","lineage":["https://openalex.org/I108468826"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Brendan Englot","raw_affiliation_strings":["Stevens Institute of Technology,Department of Mechanical Engineering,Hoboken,NJ,USA,07030","STEVENS INST OF TECHNOLOGY"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Stevens Institute of Technology,Department of Mechanical Engineering,Hoboken,NJ,USA,07030","institution_ids":["https://openalex.org/I108468826"]},{"raw_affiliation_string":"STEVENS INST OF TECHNOLOGY","institution_ids":["https://openalex.org/I108468826"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I108468826"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":true,"cited_by_count":0,"citation_normalized_percentile":{"value":0.02738476,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"6761","last_page":"6767"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11698","display_name":"Underwater Acoustics Research","score":0.9997000098228455,"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":0.9997000098228455,"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":0.9995999932289124,"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":0.9976999759674072,"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/sonar","display_name":"Sonar","score":0.8827645778656006},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6805874109268188},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.6013624668121338},{"id":"https://openalex.org/keywords/underwater","display_name":"Underwater","score":0.5932885408401489},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5674668550491333},{"id":"https://openalex.org/keywords/inference","display_name":"Inference","score":0.5425350069999695},{"id":"https://openalex.org/keywords/synthetic-aperture-sonar","display_name":"Synthetic aperture sonar","score":0.5100594162940979},{"id":"https://openalex.org/keywords/subsea","display_name":"Subsea","score":0.4635675549507141},{"id":"https://openalex.org/keywords/bayesian-inference","display_name":"Bayesian inference","score":0.44717854261398315},{"id":"https://openalex.org/keywords/simultaneous-localization-and-mapping","display_name":"Simultaneous localization and mapping","score":0.44402840733528137},{"id":"https://openalex.org/keywords/3d-reconstruction","display_name":"3D reconstruction","score":0.41984957456588745},{"id":"https://openalex.org/keywords/bayesian-probability","display_name":"Bayesian probability","score":0.3832469880580902},{"id":"https://openalex.org/keywords/geology","display_name":"Geology","score":0.19940543174743652},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.13643977046012878},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.11583259701728821},{"id":"https://openalex.org/keywords/marine-engineering","display_name":"Marine engineering","score":0.10073453187942505},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.09664657711982727}],"concepts":[{"id":"https://openalex.org/C555745239","wikidata":"https://www.wikidata.org/wiki/Q133220","display_name":"Sonar","level":2,"score":0.8827645778656006},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6805874109268188},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.6013624668121338},{"id":"https://openalex.org/C98083399","wikidata":"https://www.wikidata.org/wiki/Q3246517","display_name":"Underwater","level":2,"score":0.5932885408401489},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5674668550491333},{"id":"https://openalex.org/C2776214188","wikidata":"https://www.wikidata.org/wiki/Q408386","display_name":"Inference","level":2,"score":0.5425350069999695},{"id":"https://openalex.org/C181255713","wikidata":"https://www.wikidata.org/wiki/Q7662740","display_name":"Synthetic aperture sonar","level":3,"score":0.5100594162940979},{"id":"https://openalex.org/C2777737062","wikidata":"https://www.wikidata.org/wiki/Q14898686","display_name":"Subsea","level":2,"score":0.4635675549507141},{"id":"https://openalex.org/C160234255","wikidata":"https://www.wikidata.org/wiki/Q812535","display_name":"Bayesian inference","level":3,"score":0.44717854261398315},{"id":"https://openalex.org/C86369673","wikidata":"https://www.wikidata.org/wiki/Q1203659","display_name":"Simultaneous localization and mapping","level":4,"score":0.44402840733528137},{"id":"https://openalex.org/C109950114","wikidata":"https://www.wikidata.org/wiki/Q4464732","display_name":"3D reconstruction","level":2,"score":0.41984957456588745},{"id":"https://openalex.org/C107673813","wikidata":"https://www.wikidata.org/wiki/Q812534","display_name":"Bayesian probability","level":2,"score":0.3832469880580902},{"id":"https://openalex.org/C127313418","wikidata":"https://www.wikidata.org/wiki/Q1069","display_name":"Geology","level":0,"score":0.19940543174743652},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.13643977046012878},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.11583259701728821},{"id":"https://openalex.org/C199104240","wikidata":"https://www.wikidata.org/wiki/Q118291","display_name":"Marine engineering","level":1,"score":0.10073453187942505},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.09664657711982727},{"id":"https://openalex.org/C111368507","wikidata":"https://www.wikidata.org/wiki/Q43518","display_name":"Oceanography","level":1,"score":0.0}],"mesh":[],"locations_count":4,"locations":[{"id":"doi:10.1109/icra48506.2021.9560737","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra48506.2021.9560737","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2021 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"},{"id":"pmh:oai:arXiv.org:2104.03203","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2104.03203","pdf_url":"https://arxiv.org/pdf/2104.03203","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"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:3145168903","is_oa":true,"landing_page_url":"http://export.arxiv.org/pdf/2104.03203","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"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.2104.03203","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2104.03203","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"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":"Preprint"}],"best_oa_location":{"id":"pmh:oai:arXiv.org:2104.03203","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2104.03203","pdf_url":"https://arxiv.org/pdf/2104.03203","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"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":[{"display_name":"Life below water","id":"https://metadata.un.org/sdg/14","score":0.8299999833106995}],"awards":[],"funders":[{"id":"https://openalex.org/F4320309644","display_name":"State University of New York","ror":"https://ror.org/01q1z8k08"}],"has_content":{"pdf":true,"grobid_xml":true},"content_urls":{"pdf":"https://content.openalex.org/works/W3145168903.pdf","grobid_xml":"https://content.openalex.org/works/W3145168903.grobid-xml"},"referenced_works_count":47,"referenced_works":["https://openalex.org/W595851582","https://openalex.org/W1597267640","https://openalex.org/W1673310716","https://openalex.org/W1968315983","https://openalex.org/W2049981393","https://openalex.org/W2085261163","https://openalex.org/W2097696373","https://openalex.org/W2102313067","https://openalex.org/W2102999243","https://openalex.org/W2167340365","https://openalex.org/W2182229738","https://openalex.org/W2410641873","https://openalex.org/W2515288524","https://openalex.org/W2563150812","https://openalex.org/W2745659056","https://openalex.org/W2772640858","https://openalex.org/W2795298767","https://openalex.org/W2888702972","https://openalex.org/W2889482274","https://openalex.org/W2891820683","https://openalex.org/W2899341323","https://openalex.org/W2901136733","https://openalex.org/W2906263139","https://openalex.org/W2911029555","https://openalex.org/W2945883617","https://openalex.org/W2956805085","https://openalex.org/W2967631872","https://openalex.org/W2973181288","https://openalex.org/W2999344697","https://openalex.org/W3003384814","https://openalex.org/W3004127223","https://openalex.org/W3102961490","https://openalex.org/W3130560906","https://openalex.org/W3132284905","https://openalex.org/W6637131181","https://openalex.org/W6675492513","https://openalex.org/W6684393244","https://openalex.org/W6685664056","https://openalex.org/W6746601219","https://openalex.org/W6754479980","https://openalex.org/W6754629565","https://openalex.org/W6756486208","https://openalex.org/W6758042667","https://openalex.org/W6773360279","https://openalex.org/W6773464471","https://openalex.org/W6780794802","https://openalex.org/W6791563453"],"related_works":["https://openalex.org/W3205612855","https://openalex.org/W2997586652","https://openalex.org/W2772640858","https://openalex.org/W1984021125","https://openalex.org/W1556081780","https://openalex.org/W2974494712","https://openalex.org/W71940753","https://openalex.org/W2090526203","https://openalex.org/W2986914694","https://openalex.org/W2953111371","https://openalex.org/W2109513571","https://openalex.org/W1502416540","https://openalex.org/W2055753214","https://openalex.org/W2587910283","https://openalex.org/W2772328958","https://openalex.org/W2148887646","https://openalex.org/W2980166058","https://openalex.org/W3090077032","https://openalex.org/W2140251623","https://openalex.org/W2009843513"],"abstract_inverted_index":{"Recent":[0],"work":[1,66],"has":[2],"achieved":[3,44],"dense":[4],"3D":[5,71,114,141],"reconstruction":[6,72],"with":[7,50,60],"wide-aperture":[8],"imaging":[9],"sonar":[10,22,57,121],"using":[11,75],"a":[12,25,47,100,149,156],"stereo":[13],"pair":[14],"of":[15,56,91,108,129,165],"orthogonally":[16],"oriented":[17],"sonars.":[18],"This":[19],"allows":[20],"each":[21,109],"to":[23,68,87,104,138,161],"observe":[24],"spatial":[26],"dimension":[27],"that":[28],"the":[29,82,89,95,119,126,163,169],"other":[30],"is":[31,43,116,132,136],"missing,":[32],"without":[33],"requiring":[34],"any":[35],"prior":[36],"assumptions":[37],"about":[38],"scene":[39],"geometry.":[40],"However,":[41],"this":[42,76],"only":[45],"in":[46,94,148,168],"small":[48],"region":[49],"overlapping":[51],"fields-of-view,":[52],"leaving":[53],"large":[54],"regions":[55],"image":[58],"observations":[59],"an":[61,106],"unknown":[62,140],"elevation":[63,127],"angle.":[64],"Our":[65],"aims":[67],"achieve":[69],"large-scale":[70],"more":[73],"efficiently":[74],"sensor":[77],"arrangement.":[78],"We":[79,98,143],"propose":[80],"dividing":[81],"world":[83],"into":[84],"semantic":[85],"classes":[86],"exploit":[88],"presence":[90],"repeating":[92],"structures":[93],"subsea":[96],"environment.":[97],"use":[99,152],"Bayesian":[101],"inference":[102],"framework":[103,135,167],"build":[105],"understanding":[107],"object":[110],"class&#x2019;s":[111],"geometry":[112],"when":[113,125],"information":[115],"available":[117],"from":[118,155],"orthogonal":[120],"fusion":[122],"system,":[123],"and":[124,151],"angle":[128],"our":[130,134,146,166],"returns":[131],"unknown,":[133],"used":[137],"infer":[139],"structure.":[142],"quantitatively":[144],"validate":[145],"method":[147],"simulation":[150],"data":[153],"collected":[154],"real":[157],"outdoor":[158],"littoral":[159],"environment":[160],"demonstrate":[162],"efficacy":[164],"field.":[170]},"counts_by_year":[],"updated_date":"2026-08-18T07:49:30.821534","created_date":"2025-10-10T00:00:00"}
