{"id":"https://openalex.org/W2075988601","doi":"https://doi.org/10.1109/iros.2010.5649213","title":"3D reconstruction of underwater structures","display_name":"3D reconstruction of underwater structures","publication_year":2010,"publication_date":"2010-10-01","ids":{"openalex":"https://openalex.org/W2075988601","doi":"https://doi.org/10.1109/iros.2010.5649213","mag":"2075988601"},"language":"en","primary_location":{"id":"doi:10.1109/iros.2010.5649213","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2010.5649213","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2010 IEEE/RSJ International Conference on Intelligent Robots and Systems","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"http://hdl.handle.net/2117/12344","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5022826420","display_name":"Chris Beall","orcid":null},"institutions":[{"id":"https://openalex.org/I130701444","display_name":"Georgia Institute of Technology","ror":"https://ror.org/01zkghx44","country_code":"US","type":"education","lineage":["https://openalex.org/I130701444"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"C Beall","raw_affiliation_strings":["Georgia Institute of Technology, Atlanta, GA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Georgia Institute of Technology, Atlanta, GA, USA","institution_ids":["https://openalex.org/I130701444"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5113039150","display_name":"Brandon J. Lawrence","orcid":null},"institutions":[{"id":"https://openalex.org/I130701444","display_name":"Georgia Institute of Technology","ror":"https://ror.org/01zkghx44","country_code":"US","type":"education","lineage":["https://openalex.org/I130701444"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"B J Lawrence","raw_affiliation_strings":["Georgia Institute of Technology, Atlanta, GA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Georgia Institute of Technology, Atlanta, GA, USA","institution_ids":["https://openalex.org/I130701444"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5028642327","display_name":"Viorela Ila","orcid":"https://orcid.org/0000-0002-8137-0833"},"institutions":[{"id":"https://openalex.org/I130701444","display_name":"Georgia Institute of Technology","ror":"https://ror.org/01zkghx44","country_code":"US","type":"education","lineage":["https://openalex.org/I130701444"]},{"id":"https://openalex.org/I4210093282","display_name":"Institut de Rob\u00f2tica i Inform\u00e0tica Industrial","ror":"https://ror.org/00mcdyn90","country_code":"ES","type":"facility","lineage":["https://openalex.org/I134820265","https://openalex.org/I4210093282","https://openalex.org/I9617848"]},{"id":"https://openalex.org/I9617848","display_name":"Universitat Polit\u00e8cnica de Catalunya","ror":"https://ror.org/03mb6wj31","country_code":"ES","type":"education","lineage":["https://openalex.org/I9617848"]}],"countries":["ES","US"],"is_corresponding":false,"raw_author_name":"V Ila","raw_affiliation_strings":["Georgia Institute of Technology, Atlanta, GA, USA","Institut de Rob\u00f2tica i Inform\u00e0tica Industrial, CSIC/UPC, Barcelona, Spain"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Georgia Institute of Technology, Atlanta, GA, USA","institution_ids":["https://openalex.org/I130701444"]},{"raw_affiliation_string":"Institut de Rob\u00f2tica i Inform\u00e0tica Industrial, CSIC/UPC, Barcelona, Spain","institution_ids":["https://openalex.org/I9617848","https://openalex.org/I4210093282"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5087336025","display_name":"Frank Dellaert","orcid":"https://orcid.org/0000-0002-5532-3566"},"institutions":[{"id":"https://openalex.org/I130701444","display_name":"Georgia Institute of Technology","ror":"https://ror.org/01zkghx44","country_code":"US","type":"education","lineage":["https://openalex.org/I130701444"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"F Dellaert","raw_affiliation_strings":["Georgia Institute of Technology, Atlanta, GA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Georgia Institute of Technology, Atlanta, GA, USA","institution_ids":["https://openalex.org/I130701444"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":4,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":197.974,"has_fulltext":false,"cited_by_count":104,"citation_normalized_percentile":{"value":0.99940458,"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":"4418","last_page":"4423"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"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"}},"topics":[{"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/T10531","display_name":"Advanced Vision and Imaging","score":0.9988999962806702,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10627","display_name":"Advanced Image and Video Retrieval Techniques","score":0.9972000122070312,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"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/underwater","display_name":"Underwater","score":0.8529021143913269},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.723453164100647},{"id":"https://openalex.org/keywords/3d-reconstruction","display_name":"3D reconstruction","score":0.7027207612991333},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.5900439620018005},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5822203159332275},{"id":"https://openalex.org/keywords/smoothing","display_name":"Smoothing","score":0.5340937972068787},{"id":"https://openalex.org/keywords/scale","display_name":"Scale (ratio)","score":0.4271407127380371},{"id":"https://openalex.org/keywords/geology","display_name":"Geology","score":0.17649328708648682},{"id":"https://openalex.org/keywords/geography","display_name":"Geography","score":0.07959446310997009}],"concepts":[{"id":"https://openalex.org/C98083399","wikidata":"https://www.wikidata.org/wiki/Q3246517","display_name":"Underwater","level":2,"score":0.8529021143913269},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.723453164100647},{"id":"https://openalex.org/C109950114","wikidata":"https://www.wikidata.org/wiki/Q4464732","display_name":"3D reconstruction","level":2,"score":0.7027207612991333},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.5900439620018005},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5822203159332275},{"id":"https://openalex.org/C3770464","wikidata":"https://www.wikidata.org/wiki/Q775963","display_name":"Smoothing","level":2,"score":0.5340937972068787},{"id":"https://openalex.org/C2778755073","wikidata":"https://www.wikidata.org/wiki/Q10858537","display_name":"Scale (ratio)","level":2,"score":0.4271407127380371},{"id":"https://openalex.org/C127313418","wikidata":"https://www.wikidata.org/wiki/Q1069","display_name":"Geology","level":0,"score":0.17649328708648682},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.07959446310997009},{"id":"https://openalex.org/C111368507","wikidata":"https://www.wikidata.org/wiki/Q43518","display_name":"Oceanography","level":1,"score":0.0},{"id":"https://openalex.org/C58640448","wikidata":"https://www.wikidata.org/wiki/Q42515","display_name":"Cartography","level":1,"score":0.0}],"mesh":[],"locations_count":7,"locations":[{"id":"doi:10.1109/iros.2010.5649213","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2010.5649213","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2010 IEEE/RSJ International Conference on Intelligent Robots and Systems","raw_type":"proceedings-article"},{"id":"pmh:oai:recercat.cat:2072/192925","is_oa":true,"landing_page_url":"http://hdl.handle.net/2117/12344","pdf_url":null,"source":{"id":"https://openalex.org/S4306402147","display_name":"RECERCAT (Consorci de Serveis Universitaris de Catalunya)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I4210090028","host_organization_name":"Consorci de Serveis Universitaris de Catalunya","host_organization_lineage":["https://openalex.org/I4210090028"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"","raw_type":"info:eu-repo/semantics/publishedVersion"},{"id":"pmh:oai:CiteSeerX.psu:10.1.1.381.853","is_oa":false,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.381.853","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"http://www.cc.gatech.edu/~dellaert/ftp/Beall10iros.pdf","raw_type":"text"},{"id":"pmh:oai:CiteSeerX.psu:10.1.1.986.2388","is_oa":false,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.986.2388","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"http://upcommons.upc.edu/bitstream/handle/2117/12344/borrar%20Ila%20drac2.pdf%3Bjsessionid%3D9D5CB5A1F18BCC48FA7022798B297F53?sequence%3D1","raw_type":"text"},{"id":"pmh:oai:CiteSeerX.psu:10.1.1.994.84","is_oa":false,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.994.84","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"http://digital.csic.es/bitstream/10261/38387/1/3D%20Reconstruction.pdf","raw_type":"text"},{"id":"pmh:oai:digital.csic.es:10261/38387","is_oa":true,"landing_page_url":"http://hdl.handle.net/10261/38387","pdf_url":null,"source":{"id":"https://openalex.org/S4306401639","display_name":"DIGITAL.CSIC (Spanish National Research Council (CSIC))","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I134820265","host_organization_name":"Consejo Superior de Investigaciones Cient\u00edficas","host_organization_lineage":["https://openalex.org/I134820265"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"Comunicaci\u00f3n de congreso"},{"id":"pmh:oai:smartech.gatech.edu:1853/38324","is_oa":false,"landing_page_url":"http://hdl.handle.net/1853/38324","pdf_url":null,"source":{"id":"https://openalex.org/S4377196313","display_name":"SMARTech Repository (Georgia Institute of Technology)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I130701444","host_organization_name":"Georgia Institute of Technology","host_organization_lineage":["https://openalex.org/I130701444"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"Proceedings"}],"best_oa_location":{"id":"pmh:oai:recercat.cat:2072/192925","is_oa":true,"landing_page_url":"http://hdl.handle.net/2117/12344","pdf_url":null,"source":{"id":"https://openalex.org/S4306402147","display_name":"RECERCAT (Consorci de Serveis Universitaris de Catalunya)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I4210090028","host_organization_name":"Consorci de Serveis Universitaris de Catalunya","host_organization_lineage":["https://openalex.org/I4210090028"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"","raw_type":"info:eu-repo/semantics/publishedVersion"},"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/11","score":0.550000011920929,"display_name":"Sustainable cities and communities"},{"id":"https://metadata.un.org/sdg/14","score":0.47999998927116394,"display_name":"Life below water"}],"awards":[{"id":"https://openalex.org/G3006225402","display_name":"RI:  Inference in Large-Scale Graphical Models","funder_award_id":"0713162","funder_id":"https://openalex.org/F4320306076","funder_display_name":"National Science Foundation"},{"id":"https://openalex.org/G6671297155","display_name":null,"funder_award_id":"CAREER","funder_id":"https://openalex.org/F4320306076","funder_display_name":"National Science Foundation"},{"id":"https://openalex.org/G6803813892","display_name":"CAREER: Markov Chain Monte Carlo Methods for Large Scale Correspondence Problems in Computer Vision and Robotics","funder_award_id":"0448111","funder_id":"https://openalex.org/F4320306076","funder_display_name":"National Science Foundation"}],"funders":[{"id":"https://openalex.org/F4320306076","display_name":"National Science Foundation","ror":"https://ror.org/021nxhr62"},{"id":"https://openalex.org/F4320322930","display_name":"Ministerio de Ciencia e Innovaci\u00f3n","ror":"https://ror.org/034900433"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":16,"referenced_works":["https://openalex.org/W1510262375","https://openalex.org/W1677409904","https://openalex.org/W1984785519","https://openalex.org/W2064169939","https://openalex.org/W2082751780","https://openalex.org/W2085261163","https://openalex.org/W2101128536","https://openalex.org/W2101345862","https://openalex.org/W2111308925","https://openalex.org/W2130103520","https://openalex.org/W2138673322","https://openalex.org/W2143098693","https://openalex.org/W2151103935","https://openalex.org/W2152671441","https://openalex.org/W6637400245","https://openalex.org/W6679388247"],"related_works":["https://openalex.org/W2383807498","https://openalex.org/W1978572805","https://openalex.org/W1989941125","https://openalex.org/W1997992934","https://openalex.org/W1987225439","https://openalex.org/W2149980199","https://openalex.org/W2125114371","https://openalex.org/W2019977573","https://openalex.org/W3125766170","https://openalex.org/W3165233182"],"abstract_inverted_index":{"Environmental":[0],"change":[1],"is":[2,132,205],"a":[3,158,170,185,206],"growing":[4],"international":[5],"concern,":[6],"calling":[7],"for":[8,122,195],"the":[9,19,61,120,133,147],"regular":[10],"monitoring,":[11],"studying":[12],"and":[13,36,39,74,93,187],"preserving":[14],"of":[15,21,34,52,60,69,84,98,198,202,212],"detailed":[16],"information":[17],"about":[18],"evolution":[20],"underwater":[22,91,105,177,213],"ecosystems.":[23],"For":[24],"example,":[25],"fragile":[26],"coral":[27],"reefs":[28],"are":[29,115,149],"exposed":[30],"to":[31,48,103,117,138,169,174],"various":[32],"sources":[33],"hazards":[35],"potential":[37],"destruction,":[38],"need":[40],"close":[41],"observation.":[42],"Computer":[43],"vision":[44],"offers":[45],"promising":[46],"technologies":[47],"build":[49],"3D":[50,100,124,130,210],"models":[51,148],"an":[53,175],"environment":[54],"from":[55,90,151],"two-dimensional":[56],"images.":[57],"The":[58,96,163,200],"state":[59],"art":[62],"techniques":[63],"have":[64,87],"enabled":[65],"high-quality":[66],"digital":[67],"reconstruction":[68,83,101,131,142,211],"large-scale":[70],"structures,":[71],"e.g.,":[72],"buildings":[73],"urban":[75],"environments,":[76],"but":[77],"only":[78],"sparse":[79,129,209],"representations":[80],"or":[81,172],"dense":[82,123,141],"small":[85],"objects":[86],"been":[88],"obtained":[89],"video":[92],"still":[94],"imagery.":[95],"application":[97,146],"standard":[99],"methods":[102],"challenging":[104],"environments":[106],"typically":[107],"produces":[108],"unsatisfactory":[109],"results.":[110],"Accurate,":[111],"full":[112],"camera":[113],"trajectories":[114],"needed":[116],"serve":[118],"as":[119,216],"basis":[121],"reconstruction.":[125],"A":[126],"highly":[127,207],"accurate":[128,208],"ideal":[134],"foundation":[135],"on":[136],"which":[137],"base":[139],"subsequent":[140],"algorithms.":[143],"In":[144],"our":[145,192,203],"constructed":[150],"synchronized":[152],"high":[153],"definition":[154],"videos":[155],"collected":[156],"using":[157],"wide":[159],"baseline":[160],"stereo":[161],"rig.":[162],"rig":[164],"can":[165],"be":[166],"hand-held,":[167],"attached":[168],"boat,":[171],"even":[173],"autonomous":[176],"vehicle.":[178],"We":[179],"solve":[180],"this":[181,196],"problem":[182],"by":[183],"employing":[184],"smoothing":[186],"mapping":[188],"toolkit":[189],"developed":[190],"in":[191],"lab":[193],"specifically":[194],"type":[197],"application.":[199],"result":[201],"technique":[204],"structures":[214],"such":[215],"corals.":[217]},"counts_by_year":[{"year":2026,"cited_by_count":4},{"year":2025,"cited_by_count":5},{"year":2024,"cited_by_count":10},{"year":2023,"cited_by_count":8},{"year":2022,"cited_by_count":5},{"year":2021,"cited_by_count":5},{"year":2020,"cited_by_count":1},{"year":2019,"cited_by_count":6},{"year":2018,"cited_by_count":3},{"year":2017,"cited_by_count":6},{"year":2016,"cited_by_count":10},{"year":2015,"cited_by_count":8},{"year":2014,"cited_by_count":10},{"year":2013,"cited_by_count":12},{"year":2012,"cited_by_count":6}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}
