{"id":"https://openalex.org/W2011979009","doi":"https://doi.org/10.1109/iros.2005.1545340","title":"Improved vehicle based multibeam bathymetry using sub-maps and SLAM","display_name":"Improved vehicle based multibeam bathymetry using sub-maps and SLAM","publication_year":2005,"publication_date":"2005-01-01","ids":{"openalex":"https://openalex.org/W2011979009","doi":"https://doi.org/10.1109/iros.2005.1545340","mag":"2011979009"},"language":"en","primary_location":{"id":"doi:10.1109/iros.2005.1545340","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2005.1545340","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2005 IEEE/RSJ International Conference on Intelligent Robots and Systems","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/A5067190999","display_name":"Christopher Roman","orcid":"https://orcid.org/0000-0002-9185-4532"},"institutions":[{"id":"https://openalex.org/I63966007","display_name":"Massachusetts Institute of Technology","ror":"https://ror.org/042nb2s44","country_code":"US","type":"education","lineage":["https://openalex.org/I63966007"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"C. Roman","raw_affiliation_strings":["MIT/WHOI Joint Program in Applied Ocean Science and Engineering, Massachusetts Institute of Technology, Cambridge, MA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"MIT/WHOI Joint Program in Applied Ocean Science and Engineering, Massachusetts Institute of Technology, Cambridge, MA, USA","institution_ids":["https://openalex.org/I63966007"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5047246028","display_name":"Hanumant Singh","orcid":"https://orcid.org/0000-0002-4975-3244"},"institutions":[{"id":"https://openalex.org/I66958751","display_name":"Woods Hole Oceanographic Institution","ror":"https://ror.org/03zbnzt98","country_code":"US","type":"funder","lineage":["https://openalex.org/I66958751"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"H. Singh","raw_affiliation_strings":["Department of Applied Ocean Physics and Engineering, Woods Hole Oceanographic Institution, Woods Hole, MA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Applied Ocean Physics and Engineering, Woods Hole Oceanographic Institution, Woods Hole, MA, USA","institution_ids":["https://openalex.org/I66958751"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5067190999"],"corresponding_institution_ids":["https://openalex.org/I63966007"],"apc_list":null,"apc_paid":null,"fwci":6.9564,"has_fulltext":false,"cited_by_count":92,"citation_normalized_percentile":{"value":0.96329817,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":91,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"3662","last_page":"3669"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11192","display_name":"Underwater Vehicles and Communication Systems","score":0.9994999766349792,"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":0.9994999766349792,"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":0.9994000196456909,"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/T11698","display_name":"Underwater Acoustics Research","score":0.9990000128746033,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/bathymetry","display_name":"Bathymetry","score":0.9363113641738892},{"id":"https://openalex.org/keywords/terrain","display_name":"Terrain","score":0.7021985054016113},{"id":"https://openalex.org/keywords/context","display_name":"Context (archaeology)","score":0.6084100008010864},{"id":"https://openalex.org/keywords/remotely-operated-underwater-vehicle","display_name":"Remotely operated underwater vehicle","score":0.6063527464866638},{"id":"https://openalex.org/keywords/extended-kalman-filter","display_name":"Extended Kalman filter","score":0.5598494410514832},{"id":"https://openalex.org/keywords/ridge","display_name":"Ridge","score":0.5580317974090576},{"id":"https://openalex.org/keywords/simultaneous-localization-and-mapping","display_name":"Simultaneous localization and mapping","score":0.5519808530807495},{"id":"https://openalex.org/keywords/geology","display_name":"Geology","score":0.5370368957519531},{"id":"https://openalex.org/keywords/bathymetric-chart","display_name":"Bathymetric chart","score":0.5212557911872864},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5164761543273926},{"id":"https://openalex.org/keywords/remote-sensing","display_name":"Remote sensing","score":0.5034880042076111},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.48585864901542664},{"id":"https://openalex.org/keywords/position","display_name":"Position (finance)","score":0.47125864028930664},{"id":"https://openalex.org/keywords/scale","display_name":"Scale (ratio)","score":0.4450854957103729},{"id":"https://openalex.org/keywords/kalman-filter","display_name":"Kalman filter","score":0.4219590723514557},{"id":"https://openalex.org/keywords/geodesy","display_name":"Geodesy","score":0.408438503742218},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.38034889101982117},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.34300124645233154},{"id":"https://openalex.org/keywords/geography","display_name":"Geography","score":0.28475600481033325},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.26861846446990967},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.13483595848083496},{"id":"https://openalex.org/keywords/cartography","display_name":"Cartography","score":0.1293656826019287},{"id":"https://openalex.org/keywords/oceanography","display_name":"Oceanography","score":0.08150649070739746}],"concepts":[{"id":"https://openalex.org/C174943157","wikidata":"https://www.wikidata.org/wiki/Q810826","display_name":"Bathymetry","level":2,"score":0.9363113641738892},{"id":"https://openalex.org/C161840515","wikidata":"https://www.wikidata.org/wiki/Q186131","display_name":"Terrain","level":2,"score":0.7021985054016113},{"id":"https://openalex.org/C2779343474","wikidata":"https://www.wikidata.org/wiki/Q3109175","display_name":"Context (archaeology)","level":2,"score":0.6084100008010864},{"id":"https://openalex.org/C145424490","wikidata":"https://www.wikidata.org/wiki/Q618465","display_name":"Remotely operated underwater vehicle","level":4,"score":0.6063527464866638},{"id":"https://openalex.org/C206833254","wikidata":"https://www.wikidata.org/wiki/Q5421817","display_name":"Extended Kalman filter","level":3,"score":0.5598494410514832},{"id":"https://openalex.org/C32277403","wikidata":"https://www.wikidata.org/wiki/Q740445","display_name":"Ridge","level":2,"score":0.5580317974090576},{"id":"https://openalex.org/C86369673","wikidata":"https://www.wikidata.org/wiki/Q1203659","display_name":"Simultaneous localization and mapping","level":4,"score":0.5519808530807495},{"id":"https://openalex.org/C127313418","wikidata":"https://www.wikidata.org/wiki/Q1069","display_name":"Geology","level":0,"score":0.5370368957519531},{"id":"https://openalex.org/C138845058","wikidata":"https://www.wikidata.org/wiki/Q2915844","display_name":"Bathymetric chart","level":3,"score":0.5212557911872864},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5164761543273926},{"id":"https://openalex.org/C62649853","wikidata":"https://www.wikidata.org/wiki/Q199687","display_name":"Remote sensing","level":1,"score":0.5034880042076111},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.48585864901542664},{"id":"https://openalex.org/C198082294","wikidata":"https://www.wikidata.org/wiki/Q3399648","display_name":"Position (finance)","level":2,"score":0.47125864028930664},{"id":"https://openalex.org/C2778755073","wikidata":"https://www.wikidata.org/wiki/Q10858537","display_name":"Scale (ratio)","level":2,"score":0.4450854957103729},{"id":"https://openalex.org/C157286648","wikidata":"https://www.wikidata.org/wiki/Q846780","display_name":"Kalman filter","level":2,"score":0.4219590723514557},{"id":"https://openalex.org/C13280743","wikidata":"https://www.wikidata.org/wiki/Q131089","display_name":"Geodesy","level":1,"score":0.408438503742218},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.38034889101982117},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.34300124645233154},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.28475600481033325},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.26861846446990967},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.13483595848083496},{"id":"https://openalex.org/C58640448","wikidata":"https://www.wikidata.org/wiki/Q42515","display_name":"Cartography","level":1,"score":0.1293656826019287},{"id":"https://openalex.org/C111368507","wikidata":"https://www.wikidata.org/wiki/Q43518","display_name":"Oceanography","level":1,"score":0.08150649070739746},{"id":"https://openalex.org/C10138342","wikidata":"https://www.wikidata.org/wiki/Q43015","display_name":"Finance","level":1,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0},{"id":"https://openalex.org/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"score":0.0},{"id":"https://openalex.org/C151730666","wikidata":"https://www.wikidata.org/wiki/Q7205","display_name":"Paleontology","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros.2005.1545340","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2005.1545340","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2005 IEEE/RSJ International Conference on Intelligent Robots and Systems","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.8399999737739563,"display_name":"Life below water","id":"https://metadata.un.org/sdg/14"}],"awards":[],"funders":[{"id":"https://openalex.org/F4320306076","display_name":"National Science Foundation","ror":"https://ror.org/021nxhr62"},{"id":"https://openalex.org/F4320308861","display_name":"Woods Hole Oceanographic Institution","ror":"https://ror.org/03zbnzt98"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":23,"referenced_works":["https://openalex.org/W74453616","https://openalex.org/W1489204872","https://openalex.org/W1494141623","https://openalex.org/W1531532259","https://openalex.org/W1549613529","https://openalex.org/W1579744292","https://openalex.org/W1607829695","https://openalex.org/W1656165940","https://openalex.org/W1891947214","https://openalex.org/W1956033670","https://openalex.org/W1977464512","https://openalex.org/W1978670797","https://openalex.org/W2045546253","https://openalex.org/W2048728776","https://openalex.org/W2049981393","https://openalex.org/W2119851068","https://openalex.org/W2125166802","https://openalex.org/W2148228392","https://openalex.org/W2152422184","https://openalex.org/W2161740811","https://openalex.org/W2168210109","https://openalex.org/W2173782939","https://openalex.org/W6603094494"],"related_works":["https://openalex.org/W2125308530","https://openalex.org/W2034836143","https://openalex.org/W3139285078","https://openalex.org/W2953657035","https://openalex.org/W1554035627","https://openalex.org/W1541079531","https://openalex.org/W2980755614","https://openalex.org/W2122489470","https://openalex.org/W1981991040","https://openalex.org/W2467646110"],"abstract_inverted_index":{"This":[0],"paper":[1],"presents":[2],"an":[3],"algorithm":[4],"to":[5,79,89],"improve":[6],"sub-sea":[7],"acoustic":[8],"multibeam":[9,124],"bottom":[10],"mapping":[11,16,105],"based":[12],"on":[13],"the":[14,35,39,49,52,101,129,133],"simultaneous":[15],"and":[17,82,96,116],"localization":[18],"(SLAM)":[19],"methodology.":[20],"Multibeam":[21],"bathymetry":[22],"from":[23],"underwater":[24],"water":[25],"vehicles":[26],"can":[27],"yield":[28],"valuable":[29],"large":[30],"scale":[31],"terrain":[32,94],"maps":[33,44],"of":[34,42,51,100],"sea":[36],"door,":[37],"but":[38],"overall":[40],"accuracy":[41,50],"these":[43],"is":[45,106],"typically":[46],"limited":[47],"by":[48],"vehicle":[53,102],"position":[54],"estimates.":[55],"The":[56,104],"solution":[57],"presented":[58],"here":[59],"uses":[60],"small":[61],"bathymetric":[62],"patches":[63,74],"created":[64],"over":[65],"short":[66],"time":[67],"scales":[68],"in":[69,84],"a":[70,85,91,109,121],"sub-mapping":[71],"context.":[72],"These":[73],"are":[75,118],"registered":[76],"with":[77],"respect":[78],"one":[80],"another":[81],"assembled":[83],"single":[86],"coordinate":[87],"frame":[88],"produce":[90],"more":[92],"accurate":[93],"estimate":[95],"provide":[97],"improved":[98],"renavigation":[99],"trajectory.":[103],"implemented":[107],"using":[108,132],"delayed":[110],"state":[111],"extended":[112],"Kalman":[113],"filter":[114],"(EKF)":[115],"results":[117],"shown":[119],"for":[120],"real":[122],"world":[123],"data":[125],"set":[126],"collected":[127],"at":[128],"mid-Atlantic":[130],"ridge":[131],"JASON":[134],"ROV.":[135]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":4},{"year":2023,"cited_by_count":2},{"year":2022,"cited_by_count":5},{"year":2021,"cited_by_count":4},{"year":2020,"cited_by_count":3},{"year":2019,"cited_by_count":6},{"year":2018,"cited_by_count":5},{"year":2017,"cited_by_count":7},{"year":2016,"cited_by_count":3},{"year":2015,"cited_by_count":3},{"year":2014,"cited_by_count":8},{"year":2013,"cited_by_count":7},{"year":2012,"cited_by_count":6}],"updated_date":"2026-05-17T08:19:37.847499","created_date":"2025-10-10T00:00:00"}