{"id":"https://openalex.org/W1976210326","doi":"https://doi.org/10.1109/iros.2010.5650402","title":"Daytime water detection based on color variation","display_name":"Daytime water detection based on color variation","publication_year":2010,"publication_date":"2010-10-01","ids":{"openalex":"https://openalex.org/W1976210326","doi":"https://doi.org/10.1109/iros.2010.5650402","mag":"1976210326"},"language":"en","primary_location":{"id":"doi:10.1109/iros.2010.5650402","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2010.5650402","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":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5079612147","display_name":"Adam Rankin","orcid":"https://orcid.org/0000-0002-7247-6249"},"institutions":[{"id":"https://openalex.org/I1334627681","display_name":"Jet Propulsion Laboratory","ror":"https://ror.org/027k65916","country_code":"US","type":"facility","lineage":["https://openalex.org/I122411786","https://openalex.org/I1334627681","https://openalex.org/I4210124779"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"A Rankin","raw_affiliation_strings":["Jet Propulsion Laboratory, California Institute of Technology, Pasadena, CA, USA","Jet Propulsion Laboratory, California Institute of Technology, Pasadena, 91109, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Jet Propulsion Laboratory, California Institute of Technology, Pasadena, CA, USA","institution_ids":["https://openalex.org/I1334627681"]},{"raw_affiliation_string":"Jet Propulsion Laboratory, California Institute of Technology, Pasadena, 91109, USA","institution_ids":["https://openalex.org/I1334627681"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5074075243","display_name":"Larry Matthies","orcid":"https://orcid.org/0000-0002-9045-0181"},"institutions":[{"id":"https://openalex.org/I1334627681","display_name":"Jet Propulsion Laboratory","ror":"https://ror.org/027k65916","country_code":"US","type":"facility","lineage":["https://openalex.org/I122411786","https://openalex.org/I1334627681","https://openalex.org/I4210124779"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"L Matthies","raw_affiliation_strings":["Jet Propulsion Laboratory, California Institute of Technology, Pasadena, CA, USA","Jet Propulsion Laboratory, California Institute of Technology, Pasadena, 91109, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Jet Propulsion Laboratory, California Institute of Technology, Pasadena, CA, USA","institution_ids":["https://openalex.org/I1334627681"]},{"raw_affiliation_string":"Jet Propulsion Laboratory, California Institute of Technology, Pasadena, 91109, USA","institution_ids":["https://openalex.org/I1334627681"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5079612147"],"corresponding_institution_ids":["https://openalex.org/I1334627681"],"apc_list":null,"apc_paid":null,"fwci":3.2291,"has_fulltext":false,"cited_by_count":63,"citation_normalized_percentile":{"value":0.92274661,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":94,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"215","last_page":"221"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11019","display_name":"Image Enhancement Techniques","score":0.9959999918937683,"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"}},"topics":[{"id":"https://openalex.org/T11019","display_name":"Image Enhancement Techniques","score":0.9959999918937683,"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/T12697","display_name":"Water Quality Monitoring Technologies","score":0.993399977684021,"subfield":{"id":"https://openalex.org/subfields/2312","display_name":"Water Science and Technology"},"field":{"id":"https://openalex.org/fields/23","display_name":"Environmental Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10111","display_name":"Remote Sensing in Agriculture","score":0.9758999943733215,"subfield":{"id":"https://openalex.org/subfields/2303","display_name":"Ecology"},"field":{"id":"https://openalex.org/fields/23","display_name":"Environmental Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/remote-sensing","display_name":"Remote sensing","score":0.6054108738899231},{"id":"https://openalex.org/keywords/environmental-science","display_name":"Environmental science","score":0.5683652758598328},{"id":"https://openalex.org/keywords/sky","display_name":"Sky","score":0.5471169948577881},{"id":"https://openalex.org/keywords/terrain","display_name":"Terrain","score":0.5401908159255981},{"id":"https://openalex.org/keywords/brightness","display_name":"Brightness","score":0.5164740085601807},{"id":"https://openalex.org/keywords/ranging","display_name":"Ranging","score":0.494721382856369},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.48519185185432434},{"id":"https://openalex.org/keywords/rgb-color-model","display_name":"RGB color model","score":0.4687628448009491},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.4294908344745636},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.42021825909614563},{"id":"https://openalex.org/keywords/geology","display_name":"Geology","score":0.260463684797287},{"id":"https://openalex.org/keywords/optics","display_name":"Optics","score":0.1727372407913208},{"id":"https://openalex.org/keywords/geodesy","display_name":"Geodesy","score":0.17041009664535522},{"id":"https://openalex.org/keywords/meteorology","display_name":"Meteorology","score":0.16993039846420288},{"id":"https://openalex.org/keywords/geography","display_name":"Geography","score":0.16144979000091553},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.10985282063484192}],"concepts":[{"id":"https://openalex.org/C62649853","wikidata":"https://www.wikidata.org/wiki/Q199687","display_name":"Remote sensing","level":1,"score":0.6054108738899231},{"id":"https://openalex.org/C39432304","wikidata":"https://www.wikidata.org/wiki/Q188847","display_name":"Environmental science","level":0,"score":0.5683652758598328},{"id":"https://openalex.org/C73329638","wikidata":"https://www.wikidata.org/wiki/Q527","display_name":"Sky","level":2,"score":0.5471169948577881},{"id":"https://openalex.org/C161840515","wikidata":"https://www.wikidata.org/wiki/Q186131","display_name":"Terrain","level":2,"score":0.5401908159255981},{"id":"https://openalex.org/C125245961","wikidata":"https://www.wikidata.org/wiki/Q221656","display_name":"Brightness","level":2,"score":0.5164740085601807},{"id":"https://openalex.org/C115051666","wikidata":"https://www.wikidata.org/wiki/Q6522493","display_name":"Ranging","level":2,"score":0.494721382856369},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.48519185185432434},{"id":"https://openalex.org/C82990744","wikidata":"https://www.wikidata.org/wiki/Q166194","display_name":"RGB color model","level":2,"score":0.4687628448009491},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.4294908344745636},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.42021825909614563},{"id":"https://openalex.org/C127313418","wikidata":"https://www.wikidata.org/wiki/Q1069","display_name":"Geology","level":0,"score":0.260463684797287},{"id":"https://openalex.org/C120665830","wikidata":"https://www.wikidata.org/wiki/Q14620","display_name":"Optics","level":1,"score":0.1727372407913208},{"id":"https://openalex.org/C13280743","wikidata":"https://www.wikidata.org/wiki/Q131089","display_name":"Geodesy","level":1,"score":0.17041009664535522},{"id":"https://openalex.org/C153294291","wikidata":"https://www.wikidata.org/wiki/Q25261","display_name":"Meteorology","level":1,"score":0.16993039846420288},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.16144979000091553},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.10985282063484192},{"id":"https://openalex.org/C58640448","wikidata":"https://www.wikidata.org/wiki/Q42515","display_name":"Cartography","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros.2010.5650402","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2010.5650402","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"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.75,"id":"https://metadata.un.org/sdg/6","display_name":"Clean water and sanitation"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":16,"referenced_works":["https://openalex.org/W77303989","https://openalex.org/W143319976","https://openalex.org/W259715682","https://openalex.org/W1493498803","https://openalex.org/W1990628193","https://openalex.org/W2001131146","https://openalex.org/W2030105948","https://openalex.org/W2087470105","https://openalex.org/W2121152498","https://openalex.org/W2130397466","https://openalex.org/W3150932944","https://openalex.org/W4285719527","https://openalex.org/W6603128485","https://openalex.org/W6605715110","https://openalex.org/W6629540181","https://openalex.org/W6658132170"],"related_works":["https://openalex.org/W4384112194","https://openalex.org/W2783354812","https://openalex.org/W2103009189","https://openalex.org/W4312958259","https://openalex.org/W2349383066","https://openalex.org/W1969901537","https://openalex.org/W2374812119","https://openalex.org/W2369180931","https://openalex.org/W4220703605","https://openalex.org/W1971021582"],"abstract_inverted_index":{"Robust":[0],"water":[1,24,40,68,75,90,138,157,192],"detection":[2,193],"is":[3,16,80,165],"a":[4,53,67,130,156,177],"critical":[5],"perception":[6,134],"requirement":[7],"for":[8,56],"unmanned":[9,212],"ground":[10],"vehicle":[11,213],"(UGV)":[12],"autonomous":[13],"navigation.":[14],"This":[15,144,204],"particularly":[17],"true":[18,187],"in":[19,27,129,140,152],"wide":[20,141],"open":[21,142],"areas":[22],"where":[23],"can":[25],"collect":[26],"naturally":[28],"occurring":[29],"terrain":[30,171],"depressions":[31],"during":[32],"periods":[33],"of":[34,49,66,81,97,113,125],"heavy":[35],"precipitation":[36],"and":[37,73,110,167,182,189,199,214],"form":[38],"large":[39],"bodies":[41,139],"(such":[42],"as":[43],"ponds).":[44],"At":[45],"far":[46],"range,":[47,61],"reflections":[48,72,79,109],"the":[50,62,74,102,111,126,147,150,160,186],"sky":[51,71,78,184],"provide":[52],"strong":[54],"cue":[55,76],"water.":[57],"But":[58],"at":[59,217],"close":[60],"color":[63,127],"coming":[64],"out":[65],"body":[69,91,158],"dominates":[70],"from":[77,94,107,159,169],"marginal":[82],"use.":[83],"We":[84,117],"model":[85],"this":[86],"behavior":[87],"by":[88],"using":[89],"intensity":[92],"data":[93],"multiple":[95],"frames":[96],"RGB":[98],"imagery":[99],"to":[100,136,162],"estimate":[101],"total":[103],"reflection":[104],"coefficient":[105],"contribution":[106],"surface":[108],"combination":[112],"all":[114],"other":[115,170],"factors.":[116],"then":[118],"describe":[119],"an":[120,210],"algorithm":[121],"that":[122,149],"uses":[123],"one":[124],"cameras":[128],"forward-looking,":[131],"UGV-mounted":[132],"stereo-vision":[133],"system":[135],"detect":[137],"areas.":[143],"detector":[145],"exploits":[146],"knowledge":[148],"change":[151],"saturation-to-brightness":[153],"ratio":[154],"across":[155],"leading":[161],"trailing":[163],"edge":[164],"uniform":[166],"distinct":[168],"types.":[172],"In":[173],"test":[174],"sequences":[175],"approaching":[176],"pond":[178],"under":[179],"clear,":[180],"overcast,":[181],"cloudy":[183],"conditions,":[185],"positive":[188],"false":[190],"negative":[191],"rates":[194],"were":[195],"(95.76%,":[196],"96.71%,":[197],"98.77%)":[198],"(0.45%,":[200],"0.60%,":[201],"0.62%),":[202],"respectively.":[203],"software":[205],"has":[206],"been":[207],"integrated":[208],"on":[209],"experimental":[211],"field":[215],"tested":[216],"Ft.":[218],"Indiantown":[219],"Gap,":[220],"PA,":[221],"USA.":[222]},"counts_by_year":[{"year":2024,"cited_by_count":3},{"year":2023,"cited_by_count":4},{"year":2022,"cited_by_count":4},{"year":2021,"cited_by_count":5},{"year":2020,"cited_by_count":6},{"year":2019,"cited_by_count":4},{"year":2018,"cited_by_count":5},{"year":2017,"cited_by_count":11},{"year":2016,"cited_by_count":3},{"year":2015,"cited_by_count":8},{"year":2013,"cited_by_count":2},{"year":2012,"cited_by_count":3}],"updated_date":"2026-05-03T08:25:01.440150","created_date":"2025-10-10T00:00:00"}
