{"id":"https://openalex.org/W3207937839","doi":"https://doi.org/10.1109/icra48506.2021.9561275","title":"Development of a Perception System for an Autonomous Surface Vehicle using Monocular Camera, LIDAR, and Marine RADAR","display_name":"Development of a Perception System for an Autonomous Surface Vehicle using Monocular Camera, LIDAR, and Marine RADAR","publication_year":2021,"publication_date":"2021-05-30","ids":{"openalex":"https://openalex.org/W3207937839","doi":"https://doi.org/10.1109/icra48506.2021.9561275","mag":"3207937839"},"language":"en","primary_location":{"id":"doi:10.1109/icra48506.2021.9561275","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra48506.2021.9561275","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":["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/A5024637690","display_name":"T. M. Clunie","orcid":null},"institutions":[{"id":"https://openalex.org/I133738476","display_name":"University of Massachusetts Lowell","ror":"https://ror.org/03hamhx47","country_code":"US","type":"education","lineage":["https://openalex.org/I133738476"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Thomas Clunie","raw_affiliation_strings":["University of Massachusetts at Lowell,Lowell,MA,USA","University of Massachusetts at Lowell, Lowell, MA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Massachusetts at Lowell,Lowell,MA,USA","institution_ids":["https://openalex.org/I133738476"]},{"raw_affiliation_string":"University of Massachusetts at Lowell, Lowell, MA, USA","institution_ids":["https://openalex.org/I133738476"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5022265358","display_name":"Michael DeFilippo","orcid":"https://orcid.org/0000-0001-6214-0103"},"institutions":[{"id":"https://openalex.org/I4210125891","display_name":"MIT Sea Grant","ror":"https://ror.org/03fg5ns40","country_code":"US","type":"other","lineage":["https://openalex.org/I1308126019","https://openalex.org/I1308126019","https://openalex.org/I1308126019","https://openalex.org/I1343035065","https://openalex.org/I1343035065","https://openalex.org/I1343035065","https://openalex.org/I2802992173","https://openalex.org/I4210125891","https://openalex.org/I4405269913","https://openalex.org/I63966007"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Michael DeFilippo","raw_affiliation_strings":["MIT Sea Grant,Autonomous Underwater Vehicles Laboratory,Cambridge,MA,USA","Autonomous Underwater Vehicles Laboratory, MIT Sea Grant, Cambridge, MA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"MIT Sea Grant,Autonomous Underwater Vehicles Laboratory,Cambridge,MA,USA","institution_ids":["https://openalex.org/I4210125891"]},{"raw_affiliation_string":"Autonomous Underwater Vehicles Laboratory, MIT Sea Grant, Cambridge, MA, USA","institution_ids":["https://openalex.org/I4210125891"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5080138427","display_name":"Michael Sacarny","orcid":"https://orcid.org/0000-0001-8599-3782"},"institutions":[{"id":"https://openalex.org/I4210125891","display_name":"MIT Sea Grant","ror":"https://ror.org/03fg5ns40","country_code":"US","type":"other","lineage":["https://openalex.org/I1308126019","https://openalex.org/I1308126019","https://openalex.org/I1308126019","https://openalex.org/I1343035065","https://openalex.org/I1343035065","https://openalex.org/I1343035065","https://openalex.org/I2802992173","https://openalex.org/I4210125891","https://openalex.org/I4405269913","https://openalex.org/I63966007"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Michael Sacarny","raw_affiliation_strings":["MIT Sea Grant,Autonomous Underwater Vehicles Laboratory,Cambridge,MA,USA","Autonomous Underwater Vehicles Laboratory, MIT Sea Grant, Cambridge, MA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"MIT Sea Grant,Autonomous Underwater Vehicles Laboratory,Cambridge,MA,USA","institution_ids":["https://openalex.org/I4210125891"]},{"raw_affiliation_string":"Autonomous Underwater Vehicles Laboratory, MIT Sea Grant, Cambridge, MA, USA","institution_ids":["https://openalex.org/I4210125891"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5031412747","display_name":"Paul Robinette","orcid":"https://orcid.org/0000-0001-8066-156X"},"institutions":[{"id":"https://openalex.org/I133738476","display_name":"University of Massachusetts Lowell","ror":"https://ror.org/03hamhx47","country_code":"US","type":"education","lineage":["https://openalex.org/I133738476"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Paul Robinette","raw_affiliation_strings":["University of Massachusetts at Lowell,Lowell,MA,USA","University of Massachusetts at Lowell, Lowell, MA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Massachusetts at Lowell,Lowell,MA,USA","institution_ids":["https://openalex.org/I133738476"]},{"raw_affiliation_string":"University of Massachusetts at Lowell, Lowell, MA, USA","institution_ids":["https://openalex.org/I133738476"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":15.5616,"has_fulltext":false,"cited_by_count":42,"citation_normalized_percentile":{"value":0.99743261,"is_in_top_1_percent":true,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"14112","last_page":"14119"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11622","display_name":"Maritime Navigation and Safety","score":0.9973000288009644,"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"}},"topics":[{"id":"https://openalex.org/T11622","display_name":"Maritime Navigation and Safety","score":0.9973000288009644,"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/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9941999912261963,"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/T10711","display_name":"Target Tracking and Data Fusion in Sensor Networks","score":0.9927999973297119,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"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/lidar","display_name":"Lidar","score":0.6725236773490906},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.6170667409896851},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.6135685443878174},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5988886952400208},{"id":"https://openalex.org/keywords/obstacle","display_name":"Obstacle","score":0.5441551804542542},{"id":"https://openalex.org/keywords/software","display_name":"Software","score":0.5275756120681763},{"id":"https://openalex.org/keywords/radar","display_name":"Radar","score":0.5179575681686401},{"id":"https://openalex.org/keywords/radar-imaging","display_name":"Radar imaging","score":0.48828792572021484},{"id":"https://openalex.org/keywords/unmanned-surface-vehicle","display_name":"Unmanned surface vehicle","score":0.4633166790008545},{"id":"https://openalex.org/keywords/synthetic-aperture-radar","display_name":"Synthetic aperture radar","score":0.44389280676841736},{"id":"https://openalex.org/keywords/tracking-system","display_name":"Tracking system","score":0.4384010434150696},{"id":"https://openalex.org/keywords/object-detection","display_name":"Object detection","score":0.427764356136322},{"id":"https://openalex.org/keywords/robotics","display_name":"Robotics","score":0.4129316806793213},{"id":"https://openalex.org/keywords/monocular","display_name":"Monocular","score":0.4122634828090668},{"id":"https://openalex.org/keywords/real-time-computing","display_name":"Real-time computing","score":0.3648202419281006},{"id":"https://openalex.org/keywords/remote-sensing","display_name":"Remote sensing","score":0.3488883972167969},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.3059309720993042},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.23385465145111084},{"id":"https://openalex.org/keywords/geology","display_name":"Geology","score":0.22079381346702576},{"id":"https://openalex.org/keywords/marine-engineering","display_name":"Marine engineering","score":0.17517271637916565},{"id":"https://openalex.org/keywords/geography","display_name":"Geography","score":0.15421247482299805},{"id":"https://openalex.org/keywords/kalman-filter","display_name":"Kalman filter","score":0.12576216459274292},{"id":"https://openalex.org/keywords/pattern-recognition","display_name":"Pattern recognition (psychology)","score":0.08610600233078003},{"id":"https://openalex.org/keywords/telecommunications","display_name":"Telecommunications","score":0.08331331610679626}],"concepts":[{"id":"https://openalex.org/C51399673","wikidata":"https://www.wikidata.org/wiki/Q504027","display_name":"Lidar","level":2,"score":0.6725236773490906},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.6170667409896851},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6135685443878174},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5988886952400208},{"id":"https://openalex.org/C2776650193","wikidata":"https://www.wikidata.org/wiki/Q264661","display_name":"Obstacle","level":2,"score":0.5441551804542542},{"id":"https://openalex.org/C2777904410","wikidata":"https://www.wikidata.org/wiki/Q7397","display_name":"Software","level":2,"score":0.5275756120681763},{"id":"https://openalex.org/C554190296","wikidata":"https://www.wikidata.org/wiki/Q47528","display_name":"Radar","level":2,"score":0.5179575681686401},{"id":"https://openalex.org/C10929652","wikidata":"https://www.wikidata.org/wiki/Q7279985","display_name":"Radar imaging","level":3,"score":0.48828792572021484},{"id":"https://openalex.org/C2987248590","wikidata":"https://www.wikidata.org/wiki/Q4419860","display_name":"Unmanned surface vehicle","level":2,"score":0.4633166790008545},{"id":"https://openalex.org/C87360688","wikidata":"https://www.wikidata.org/wiki/Q740686","display_name":"Synthetic aperture radar","level":2,"score":0.44389280676841736},{"id":"https://openalex.org/C154586513","wikidata":"https://www.wikidata.org/wiki/Q4420972","display_name":"Tracking system","level":3,"score":0.4384010434150696},{"id":"https://openalex.org/C2776151529","wikidata":"https://www.wikidata.org/wiki/Q3045304","display_name":"Object detection","level":3,"score":0.427764356136322},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.4129316806793213},{"id":"https://openalex.org/C65909025","wikidata":"https://www.wikidata.org/wiki/Q1945033","display_name":"Monocular","level":2,"score":0.4122634828090668},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.3648202419281006},{"id":"https://openalex.org/C62649853","wikidata":"https://www.wikidata.org/wiki/Q199687","display_name":"Remote sensing","level":1,"score":0.3488883972167969},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.3059309720993042},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.23385465145111084},{"id":"https://openalex.org/C127313418","wikidata":"https://www.wikidata.org/wiki/Q1069","display_name":"Geology","level":0,"score":0.22079381346702576},{"id":"https://openalex.org/C199104240","wikidata":"https://www.wikidata.org/wiki/Q118291","display_name":"Marine engineering","level":1,"score":0.17517271637916565},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.15421247482299805},{"id":"https://openalex.org/C157286648","wikidata":"https://www.wikidata.org/wiki/Q846780","display_name":"Kalman filter","level":2,"score":0.12576216459274292},{"id":"https://openalex.org/C153180895","wikidata":"https://www.wikidata.org/wiki/Q7148389","display_name":"Pattern recognition (psychology)","level":2,"score":0.08610600233078003},{"id":"https://openalex.org/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","level":1,"score":0.08331331610679626},{"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/C166957645","wikidata":"https://www.wikidata.org/wiki/Q23498","display_name":"Archaeology","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icra48506.2021.9561275","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra48506.2021.9561275","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"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Life below water","id":"https://metadata.un.org/sdg/14","score":0.800000011920929}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":53,"referenced_works":["https://openalex.org/W1580869601","https://openalex.org/W1909771825","https://openalex.org/W1992989752","https://openalex.org/W2003456378","https://openalex.org/W2033819227","https://openalex.org/W2045656688","https://openalex.org/W2083044905","https://openalex.org/W2105934661","https://openalex.org/W2125175513","https://openalex.org/W2152864241","https://openalex.org/W2154616225","https://openalex.org/W2157929363","https://openalex.org/W2161129698","https://openalex.org/W2181342096","https://openalex.org/W2222512263","https://openalex.org/W2252355370","https://openalex.org/W2296901909","https://openalex.org/W2344934580","https://openalex.org/W2552331162","https://openalex.org/W2556583614","https://openalex.org/W2738872590","https://openalex.org/W2760632211","https://openalex.org/W2763982115","https://openalex.org/W2771252932","https://openalex.org/W2796347433","https://openalex.org/W2896704490","https://openalex.org/W2908986427","https://openalex.org/W2910089361","https://openalex.org/W2922091708","https://openalex.org/W2942504704","https://openalex.org/W2951090529","https://openalex.org/W2958039837","https://openalex.org/W2966039073","https://openalex.org/W2979633951","https://openalex.org/W2979680480","https://openalex.org/W2985300417","https://openalex.org/W2986661843","https://openalex.org/W3001884130","https://openalex.org/W3011337835","https://openalex.org/W3018557986","https://openalex.org/W3018757597","https://openalex.org/W3032472579","https://openalex.org/W3090912915","https://openalex.org/W3104218139","https://openalex.org/W3106441708","https://openalex.org/W3132607695","https://openalex.org/W3155765615","https://openalex.org/W4293584584","https://openalex.org/W6685614205","https://openalex.org/W6750227808","https://openalex.org/W6774986497","https://openalex.org/W6781269497","https://openalex.org/W6794003461"],"related_works":["https://openalex.org/W4312559648","https://openalex.org/W4224011692","https://openalex.org/W1518661368","https://openalex.org/W4312359013","https://openalex.org/W2592945177","https://openalex.org/W4312637486","https://openalex.org/W2965672371","https://openalex.org/W2608348068","https://openalex.org/W2132092299","https://openalex.org/W2787139137"],"abstract_inverted_index":{"This":[0],"paper":[1],"describes":[2],"a":[3,30,57,68],"set":[4],"of":[5],"software":[6,91],"modules":[7],"and":[8,14,51,71,78,95],"algorithms":[9],"for":[10],"maritime":[11,31],"object":[12],"detection":[13],"tracking.":[15],"The":[16,39,60,90],"approach":[17],"described":[18,40],"here":[19],"is":[20,62,92],"designed":[21],"to":[22,76,82],"work":[23],"in":[24],"conjunction":[25],"with":[26],"various":[27],"sensors":[28],"from":[29,44],"surface":[32],"vessel":[33],"(e.g.":[34],"marine":[35],"RADAR,":[36],"LIDAR,":[37],"camera).":[38],"system":[41,61,70],"identifies":[42],"obstacles":[43,80],"the":[45,53,74],"input":[46],"sensors,":[47],"estimates":[48],"their":[49],"state,":[50],"fuses":[52],"obstacle":[54],"data":[55],"into":[56],"consolidated":[58],"report.":[59],"verified":[63],"using":[64],"experiments":[65],"conducted":[66],"on":[67],"live":[69],"successfully":[72],"demonstrates":[73],"ability":[75],"detect":[77],"track":[79],"up":[81],"450m":[83],"away":[84],"while":[85],"operating":[86],"at":[87,97],"7":[88],"fps.":[89],"open":[93],"source":[94],"available":[96],"https://github.com/uml-marine-robotics/asv_perception.":[98]},"counts_by_year":[{"year":2026,"cited_by_count":5},{"year":2025,"cited_by_count":13},{"year":2024,"cited_by_count":10},{"year":2023,"cited_by_count":8},{"year":2022,"cited_by_count":5},{"year":2021,"cited_by_count":1}],"updated_date":"2026-07-29T14:22:42.915294","created_date":"2025-10-10T00:00:00"}