{"id":"https://openalex.org/W4401414499","doi":"https://doi.org/10.1109/icra57147.2024.10611082","title":"Underwater Volumetric Mapping using Imaging Sonar and Free-Space Modeling Approach","display_name":"Underwater Volumetric Mapping using Imaging Sonar and Free-Space Modeling Approach","publication_year":2024,"publication_date":"2024-05-13","ids":{"openalex":"https://openalex.org/W4401414499","doi":"https://doi.org/10.1109/icra57147.2024.10611082"},"language":"en","primary_location":{"id":"doi:10.1109/icra57147.2024.10611082","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra57147.2024.10611082","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 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/A5020401014","display_name":"Ant\u00f3nio J. Oliveira","orcid":"https://orcid.org/0000-0002-5693-7586"},"institutions":[{"id":"https://openalex.org/I182534213","display_name":"Universidade do Porto","ror":"https://ror.org/043pwc612","country_code":"PT","type":"education","lineage":["https://openalex.org/I182534213"]},{"id":"https://openalex.org/I4210166615","display_name":"INESC TEC","ror":"https://ror.org/05fa8ka61","country_code":"PT","type":"nonprofit","lineage":["https://openalex.org/I4210125590","https://openalex.org/I4210166615"]}],"countries":["PT"],"is_corresponding":false,"raw_author_name":"Ant\u00f3nio J. Oliveira","raw_affiliation_strings":["University of Porto,INESC TEC, Faculty of Engineering,Porto,Portugal"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Porto,INESC TEC, Faculty of Engineering,Porto,Portugal","institution_ids":["https://openalex.org/I182534213","https://openalex.org/I4210166615"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101472594","display_name":"Bruno M. Ferreira","orcid":"https://orcid.org/0000-0002-5508-0576"},"institutions":[{"id":"https://openalex.org/I182534213","display_name":"Universidade do Porto","ror":"https://ror.org/043pwc612","country_code":"PT","type":"education","lineage":["https://openalex.org/I182534213"]},{"id":"https://openalex.org/I4210166615","display_name":"INESC TEC","ror":"https://ror.org/05fa8ka61","country_code":"PT","type":"nonprofit","lineage":["https://openalex.org/I4210125590","https://openalex.org/I4210166615"]}],"countries":["PT"],"is_corresponding":false,"raw_author_name":"Bruno M. Ferreira","raw_affiliation_strings":["University of Porto,INESC TEC, Faculty of Engineering,Porto,Portugal"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Porto,INESC TEC, Faculty of Engineering,Porto,Portugal","institution_ids":["https://openalex.org/I182534213","https://openalex.org/I4210166615"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5050874422","display_name":"Nuno Cruz","orcid":"https://orcid.org/0000-0001-6365-9492"},"institutions":[{"id":"https://openalex.org/I182534213","display_name":"Universidade do Porto","ror":"https://ror.org/043pwc612","country_code":"PT","type":"education","lineage":["https://openalex.org/I182534213"]},{"id":"https://openalex.org/I4210166615","display_name":"INESC TEC","ror":"https://ror.org/05fa8ka61","country_code":"PT","type":"nonprofit","lineage":["https://openalex.org/I4210125590","https://openalex.org/I4210166615"]}],"countries":["PT"],"is_corresponding":false,"raw_author_name":"Nuno A. Cruz","raw_affiliation_strings":["University of Porto,INESC TEC, Faculty of Engineering,Porto,Portugal"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Porto,INESC TEC, Faculty of Engineering,Porto,Portugal","institution_ids":["https://openalex.org/I182534213","https://openalex.org/I4210166615"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.2953,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":{"value":0.55259744,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":94},"biblio":{"volume":null,"issue":null,"first_page":"10020","last_page":"10026"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11192","display_name":"Underwater Vehicles and Communication Systems","score":0.9959999918937683,"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/T11192","display_name":"Underwater Vehicles and Communication Systems","score":0.9959999918937683,"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/T11698","display_name":"Underwater Acoustics Research","score":0.9948999881744385,"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":0.9860000014305115,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/sonar","display_name":"Sonar","score":0.7905920743942261},{"id":"https://openalex.org/keywords/underwater","display_name":"Underwater","score":0.7458568811416626},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5728429555892944},{"id":"https://openalex.org/keywords/synthetic-aperture-sonar","display_name":"Synthetic aperture sonar","score":0.5291840434074402},{"id":"https://openalex.org/keywords/geology","display_name":"Geology","score":0.4286065697669983},{"id":"https://openalex.org/keywords/space","display_name":"Space (punctuation)","score":0.42793408036231995},{"id":"https://openalex.org/keywords/acoustics","display_name":"Acoustics","score":0.39963796734809875},{"id":"https://openalex.org/keywords/remote-sensing","display_name":"Remote sensing","score":0.3872596025466919},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.373182475566864},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3335307836532593},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.14101585745811462},{"id":"https://openalex.org/keywords/oceanography","display_name":"Oceanography","score":0.09398350119590759}],"concepts":[{"id":"https://openalex.org/C555745239","wikidata":"https://www.wikidata.org/wiki/Q133220","display_name":"Sonar","level":2,"score":0.7905920743942261},{"id":"https://openalex.org/C98083399","wikidata":"https://www.wikidata.org/wiki/Q3246517","display_name":"Underwater","level":2,"score":0.7458568811416626},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5728429555892944},{"id":"https://openalex.org/C181255713","wikidata":"https://www.wikidata.org/wiki/Q7662740","display_name":"Synthetic aperture sonar","level":3,"score":0.5291840434074402},{"id":"https://openalex.org/C127313418","wikidata":"https://www.wikidata.org/wiki/Q1069","display_name":"Geology","level":0,"score":0.4286065697669983},{"id":"https://openalex.org/C2778572836","wikidata":"https://www.wikidata.org/wiki/Q380933","display_name":"Space (punctuation)","level":2,"score":0.42793408036231995},{"id":"https://openalex.org/C24890656","wikidata":"https://www.wikidata.org/wiki/Q82811","display_name":"Acoustics","level":1,"score":0.39963796734809875},{"id":"https://openalex.org/C62649853","wikidata":"https://www.wikidata.org/wiki/Q199687","display_name":"Remote sensing","level":1,"score":0.3872596025466919},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.373182475566864},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3335307836532593},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.14101585745811462},{"id":"https://openalex.org/C111368507","wikidata":"https://www.wikidata.org/wiki/Q43518","display_name":"Oceanography","level":1,"score":0.09398350119590759},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icra57147.2024.10611082","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra57147.2024.10611082","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":18,"referenced_works":["https://openalex.org/W2115528905","https://openalex.org/W2133059825","https://openalex.org/W2133844819","https://openalex.org/W2140515654","https://openalex.org/W2158403369","https://openalex.org/W2567069552","https://openalex.org/W2584104501","https://openalex.org/W2610071666","https://openalex.org/W2737644426","https://openalex.org/W2740924709","https://openalex.org/W2910234834","https://openalex.org/W2997907947","https://openalex.org/W3049515841","https://openalex.org/W3130787441","https://openalex.org/W4205473502","https://openalex.org/W4212857220","https://openalex.org/W4312268343","https://openalex.org/W4312663378"],"related_works":["https://openalex.org/W2610363864","https://openalex.org/W2159784633","https://openalex.org/W2143131560","https://openalex.org/W2544250077","https://openalex.org/W3093449225","https://openalex.org/W2505159293","https://openalex.org/W1987798457","https://openalex.org/W3022543425","https://openalex.org/W3197313368","https://openalex.org/W232178625"],"abstract_inverted_index":{"Lack":[0],"of":[1,19,47,60,68],"information":[2],"and":[3,80],"perceptual":[4],"ambiguity":[5],"are":[6,84],"key":[7],"problems":[8],"in":[9],"sonar-based":[10],"mapping":[11,18],"applications.":[12],"We":[13],"propose":[14],"a":[15,92],"technique":[16],"for":[17],"underwater":[20],"environments,":[21],"building":[22],"on":[23,87],"the":[24,32,48,61,69],"finite,":[25],"positive,":[26],"sonar":[27],"beamwidth.":[28],"Our":[29],"approach":[30],"models":[31],"free-space":[33,70],"covered":[34],"by":[35,66],"each":[36],"emitted":[37],"acoustic":[38,77],"pulse,":[39],"employing":[40],"volumetric":[41],"techniques":[42],"to":[43,76],"create":[44],"grid-based":[45],"submaps":[46],"unoccupied":[49],"water":[50],"volumes":[51],"through":[52],"images":[53],"collected":[54,90],"from":[55,91],"imaging":[56],"sonars.":[57],"A":[58],"representation":[59],"occupied":[62],"space":[63],"is":[64,74],"obtained":[65],"exploration":[67],"frontier.":[71],"Special":[72],"attention":[73],"given":[75],"image":[78],"preparation":[79],"segmentation.":[81],"Experimental":[82],"results":[83],"provided":[85],"based":[86],"real":[88],"data":[89],"dam":[93],"shaft":[94],"scenario.":[95]},"counts_by_year":[{"year":2024,"cited_by_count":1}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}