{"id":"https://openalex.org/W4415969534","doi":"https://doi.org/10.1109/iecon58223.2025.11221351","title":"All-time Infrared Vision-based Pose Estimation for Autonomous Berthing of Unmanned Surface Vehicles","display_name":"All-time Infrared Vision-based Pose Estimation for Autonomous Berthing of Unmanned Surface Vehicles","publication_year":2025,"publication_date":"2025-10-14","ids":{"openalex":"https://openalex.org/W4415969534","doi":"https://doi.org/10.1109/iecon58223.2025.11221351"},"language":null,"primary_location":{"id":"doi:10.1109/iecon58223.2025.11221351","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iecon58223.2025.11221351","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IECON 2025 \u2013 51st Annual Conference of the IEEE Industrial Electronics Society","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/A5101000915","display_name":"Tianheng Ma","orcid":null},"institutions":[{"id":"https://openalex.org/I31847773","display_name":"Zhejiang Ocean University","ror":"https://ror.org/03mys6533","country_code":"CN","type":"education","lineage":["https://openalex.org/I31847773"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Tianheng Ma","raw_affiliation_strings":["Zhejiang University,Ocean College,Zhoushan,China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Zhejiang University,Ocean College,Zhoushan,China","institution_ids":["https://openalex.org/I31847773"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5036978948","display_name":"Yundi Zhao","orcid":null},"institutions":[{"id":"https://openalex.org/I31847773","display_name":"Zhejiang Ocean University","ror":"https://ror.org/03mys6533","country_code":"CN","type":"education","lineage":["https://openalex.org/I31847773"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yundi Zhao","raw_affiliation_strings":["Zhejiang University,Ocean College,Zhoushan,China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Zhejiang University,Ocean College,Zhoushan,China","institution_ids":["https://openalex.org/I31847773"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101916546","display_name":"Zirui Liu","orcid":"https://orcid.org/0000-0002-8967-3636"},"institutions":[{"id":"https://openalex.org/I31847773","display_name":"Zhejiang Ocean University","ror":"https://ror.org/03mys6533","country_code":"CN","type":"education","lineage":["https://openalex.org/I31847773"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zhongtian Liu","raw_affiliation_strings":["Zhejiang University,Ocean College,Zhoushan,China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Zhejiang University,Ocean College,Zhoushan,China","institution_ids":["https://openalex.org/I31847773"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100370688","display_name":"Zheng Chen","orcid":"https://orcid.org/0000-0003-0961-8758"},"institutions":[{"id":"https://openalex.org/I31847773","display_name":"Zhejiang Ocean University","ror":"https://ror.org/03mys6533","country_code":"CN","type":"education","lineage":["https://openalex.org/I31847773"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zheng Chen","raw_affiliation_strings":["Zhejiang University,Ocean College,Zhoushan,China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Zhejiang University,Ocean College,Zhoushan,China","institution_ids":["https://openalex.org/I31847773"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5065758992","display_name":"Ya\u2010Jun Pan","orcid":"https://orcid.org/0000-0002-8700-0956"},"institutions":[{"id":"https://openalex.org/I129902397","display_name":"Dalhousie University","ror":"https://ror.org/01e6qks80","country_code":"CA","type":"education","lineage":["https://openalex.org/I129902397"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"Ya-Jun Pan","raw_affiliation_strings":["Dalhousie University,Mechanical Engineering,Halifax,Canada"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Dalhousie University,Mechanical Engineering,Halifax,Canada","institution_ids":["https://openalex.org/I129902397"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"1","last_page":"6"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11622","display_name":"Maritime Navigation and Safety","score":0.4438999891281128,"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":0.4438999891281128,"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/T11223","display_name":"Maritime Ports and Logistics","score":0.0917000025510788,"subfield":{"id":"https://openalex.org/subfields/2209","display_name":"Industrial and Manufacturing 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/T12288","display_name":"Optimization and Search Problems","score":0.0835999995470047,"subfield":{"id":"https://openalex.org/subfields/1705","display_name":"Computer Networks and Communications"},"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/pose","display_name":"Pose","score":0.767300009727478},{"id":"https://openalex.org/keywords/software-deployment","display_name":"Software deployment","score":0.4458000063896179},{"id":"https://openalex.org/keywords/3d-pose-estimation","display_name":"3D pose estimation","score":0.42500001192092896},{"id":"https://openalex.org/keywords/otsus-method","display_name":"Otsu's method","score":0.39579999446868896},{"id":"https://openalex.org/keywords/object-detection","display_name":"Object detection","score":0.3912999927997589},{"id":"https://openalex.org/keywords/noise","display_name":"Noise (video)","score":0.3776000142097473},{"id":"https://openalex.org/keywords/key","display_name":"Key (lock)","score":0.375},{"id":"https://openalex.org/keywords/face","display_name":"Face (sociological concept)","score":0.3529999852180481}],"concepts":[{"id":"https://openalex.org/C52102323","wikidata":"https://www.wikidata.org/wiki/Q1671968","display_name":"Pose","level":2,"score":0.767300009727478},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.7615000009536743},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.7337999939918518},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6901000142097473},{"id":"https://openalex.org/C105339364","wikidata":"https://www.wikidata.org/wiki/Q2297740","display_name":"Software deployment","level":2,"score":0.4458000063896179},{"id":"https://openalex.org/C36613465","wikidata":"https://www.wikidata.org/wiki/Q4636322","display_name":"3D pose estimation","level":3,"score":0.42500001192092896},{"id":"https://openalex.org/C21729346","wikidata":"https://www.wikidata.org/wiki/Q2444417","display_name":"Otsu's method","level":4,"score":0.39579999446868896},{"id":"https://openalex.org/C2776151529","wikidata":"https://www.wikidata.org/wiki/Q3045304","display_name":"Object detection","level":3,"score":0.3912999927997589},{"id":"https://openalex.org/C99498987","wikidata":"https://www.wikidata.org/wiki/Q2210247","display_name":"Noise (video)","level":3,"score":0.3776000142097473},{"id":"https://openalex.org/C26517878","wikidata":"https://www.wikidata.org/wiki/Q228039","display_name":"Key (lock)","level":2,"score":0.375},{"id":"https://openalex.org/C2779304628","wikidata":"https://www.wikidata.org/wiki/Q3503480","display_name":"Face (sociological concept)","level":2,"score":0.3529999852180481},{"id":"https://openalex.org/C193581530","wikidata":"https://www.wikidata.org/wiki/Q683778","display_name":"Structured light","level":2,"score":0.34310001134872437},{"id":"https://openalex.org/C2779843651","wikidata":"https://www.wikidata.org/wiki/Q7390335","display_name":"SIGNAL (programming language)","level":2,"score":0.30660000443458557},{"id":"https://openalex.org/C555944384","wikidata":"https://www.wikidata.org/wiki/Q249","display_name":"Wireless","level":2,"score":0.29280000925064087},{"id":"https://openalex.org/C2776799497","wikidata":"https://www.wikidata.org/wiki/Q484298","display_name":"Surface (topology)","level":2,"score":0.2897999882698059},{"id":"https://openalex.org/C12713177","wikidata":"https://www.wikidata.org/wiki/Q1900281","display_name":"Perspective (graphical)","level":2,"score":0.27709999680519104},{"id":"https://openalex.org/C9417928","wikidata":"https://www.wikidata.org/wiki/Q1070689","display_name":"Image processing","level":3,"score":0.27390000224113464},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.2662999927997589},{"id":"https://openalex.org/C158355884","wikidata":"https://www.wikidata.org/wiki/Q11388","display_name":"Infrared","level":2,"score":0.2531999945640564},{"id":"https://openalex.org/C5339829","wikidata":"https://www.wikidata.org/wiki/Q1425977","display_name":"Machine vision","level":2,"score":0.2500999867916107}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iecon58223.2025.11221351","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iecon58223.2025.11221351","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IECON 2025 \u2013 51st Annual Conference of the IEEE Industrial Electronics Society","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":21,"referenced_works":["https://openalex.org/W2027890318","https://openalex.org/W2907040317","https://openalex.org/W2943356268","https://openalex.org/W2950986790","https://openalex.org/W3004382360","https://openalex.org/W3048240987","https://openalex.org/W3094450725","https://openalex.org/W3109469519","https://openalex.org/W3189084189","https://openalex.org/W3204823849","https://openalex.org/W3217449891","https://openalex.org/W4206272272","https://openalex.org/W4297534012","https://openalex.org/W4310971464","https://openalex.org/W4312774109","https://openalex.org/W4323345609","https://openalex.org/W4367277064","https://openalex.org/W4385886733","https://openalex.org/W4389288616","https://openalex.org/W4396525341","https://openalex.org/W4405102396"],"related_works":[],"abstract_inverted_index":{"Autonomous":[0],"berthing":[1,42,74],"remains":[2],"a":[3,39,143],"key":[4],"challenge":[5],"for":[6,73,149],"unmanned":[7],"surface":[8],"vehicles":[9],"(USVs),":[10],"especially":[11],"in":[12],"dynamic":[13],"marine":[14],"environments":[15],"where":[16],"traditional":[17],"methods":[18],"relying":[19],"on":[20,70,82],"GPS,":[21],"wireless":[22],"communication,":[23],"or":[24],"visual":[25],"markers":[26],"face":[27],"limitations":[28],"due":[29],"to":[30,103,123,128],"signal":[31],"attenuation":[32],"and":[33,51,57,98,107,146],"lighting":[34],"changes.":[35],"This":[36],"article":[37],"proposes":[38],"vision-based":[40],"robust":[41],"pose":[43,59,127],"estimation":[44],"framework":[45,133],"that":[46],"integrates":[47],"infrared":[48,105],"light":[49,100,130],"arrays":[50],"ArUco":[52],"fiducial":[53],"markers,":[54],"enabling":[55],"accurate":[56],"real-time":[58],"estimation.":[60],"The":[61,85,116,132],"YOLO-v5n":[62],"berth":[63],"object":[64],"detection":[65],"model":[66],"has":[67,134],"been":[68,135],"fine-tuned":[69],"custom":[71],"datasets":[72],"scenarios,":[75],"while":[76],"TensorRT":[77],"optimization":[78],"ensures":[79],"efficient":[80],"deployment":[81],"embedded":[83],"platforms.":[84],"system":[86],"utilizes":[87],"adaptive":[88],"image":[89],"processing":[90],"techniques,":[91],"including":[92],"Otsu":[93],"binarization,":[94],"Canny":[95],"edge":[96],"detection,":[97],"centroid-based":[99],"center":[101],"localization,":[102],"isolate":[104],"LEDs":[106],"extract":[108],"their":[109],"geometric":[110],"features":[111],"under":[112,139],"different":[113,140],"illumination":[114],"conditions.":[115],"perspective":[117],"n-point":[118],"(PnP)":[119],"algorithm":[120],"was":[121],"used":[122],"estimate":[124],"USV\u2019s":[125],"relative":[126],"the":[129],"array.":[131],"validated":[136],"through":[137],"experiments":[138],"conditions,":[141],"providing":[142],"reliable":[144],"solution":[145],"potential":[147],"applications":[148],"USV":[150],"autonomous":[151],"berthing.":[152]},"counts_by_year":[],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-11-06T00:00:00"}