{"id":"https://openalex.org/W2004773361","doi":"https://doi.org/10.1109/iros.2010.5652480","title":"Towards autonomous habitat classification using Gaussian Mixture Models","display_name":"Towards autonomous habitat classification using Gaussian Mixture Models","publication_year":2010,"publication_date":"2010-10-01","ids":{"openalex":"https://openalex.org/W2004773361","doi":"https://doi.org/10.1109/iros.2010.5652480","mag":"2004773361"},"language":"en","primary_location":{"id":"doi:10.1109/iros.2010.5652480","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2010.5652480","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/A5065120495","display_name":"Daniel Steinberg","orcid":"https://orcid.org/0000-0003-1887-5115"},"institutions":[{"id":"https://openalex.org/I4210127558","display_name":"Australian Centre for Robotic Vision","ror":"https://ror.org/02zv9xv82","country_code":"AU","type":"facility","lineage":["https://openalex.org/I4210127558"]},{"id":"https://openalex.org/I129604602","display_name":"University of Sydney","ror":"https://ror.org/0384j8v12","country_code":"AU","type":"education","lineage":["https://openalex.org/I129604602"]}],"countries":["AU"],"is_corresponding":true,"raw_author_name":"Daniel M Steinberg","raw_affiliation_strings":["Australian Centre of Field Robotics (ACFR), University of Sydney, NSW, Australia","Australian Centre for Field Robotics (ACFR), University of Sydney NSW, 2006, Australia"],"affiliations":[{"raw_affiliation_string":"Australian Centre of Field Robotics (ACFR), University of Sydney, NSW, Australia","institution_ids":["https://openalex.org/I4210127558","https://openalex.org/I129604602"]},{"raw_affiliation_string":"Australian Centre for Field Robotics (ACFR), University of Sydney NSW, 2006, Australia","institution_ids":["https://openalex.org/I129604602"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5044131792","display_name":"Stefan B. Williams","orcid":"https://orcid.org/0000-0001-9416-5639"},"institutions":[{"id":"https://openalex.org/I4210127558","display_name":"Australian Centre for Robotic Vision","ror":"https://ror.org/02zv9xv82","country_code":"AU","type":"facility","lineage":["https://openalex.org/I4210127558"]},{"id":"https://openalex.org/I129604602","display_name":"University of Sydney","ror":"https://ror.org/0384j8v12","country_code":"AU","type":"education","lineage":["https://openalex.org/I129604602"]}],"countries":["AU"],"is_corresponding":false,"raw_author_name":"Stefan B Williams","raw_affiliation_strings":["Australian Centre of Field Robotics (ACFR), University of Sydney, NSW, Australia","Australian Centre for Field Robotics (ACFR), University of Sydney NSW, 2006, Australia"],"affiliations":[{"raw_affiliation_string":"Australian Centre of Field Robotics (ACFR), University of Sydney, NSW, Australia","institution_ids":["https://openalex.org/I4210127558","https://openalex.org/I129604602"]},{"raw_affiliation_string":"Australian Centre for Field Robotics (ACFR), University of Sydney NSW, 2006, Australia","institution_ids":["https://openalex.org/I129604602"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5068908958","display_name":"Oscar Pizarro","orcid":"https://orcid.org/0000-0001-6612-2738"},"institutions":[{"id":"https://openalex.org/I4210127558","display_name":"Australian Centre for Robotic Vision","ror":"https://ror.org/02zv9xv82","country_code":"AU","type":"facility","lineage":["https://openalex.org/I4210127558"]},{"id":"https://openalex.org/I129604602","display_name":"University of Sydney","ror":"https://ror.org/0384j8v12","country_code":"AU","type":"education","lineage":["https://openalex.org/I129604602"]}],"countries":["AU"],"is_corresponding":false,"raw_author_name":"Oscar Pizarro","raw_affiliation_strings":["Australian Centre of Field Robotics (ACFR), University of Sydney, NSW, Australia","Australian Centre for Field Robotics (ACFR), University of Sydney NSW, 2006, Australia"],"affiliations":[{"raw_affiliation_string":"Australian Centre of Field Robotics (ACFR), University of Sydney, NSW, Australia","institution_ids":["https://openalex.org/I4210127558","https://openalex.org/I129604602"]},{"raw_affiliation_string":"Australian Centre for Field Robotics (ACFR), University of Sydney NSW, 2006, Australia","institution_ids":["https://openalex.org/I129604602"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5058692138","display_name":"Michael V. Jakuba","orcid":"https://orcid.org/0000-0002-0440-0074"},"institutions":[{"id":"https://openalex.org/I129604602","display_name":"University of Sydney","ror":"https://ror.org/0384j8v12","country_code":"AU","type":"education","lineage":["https://openalex.org/I129604602"]},{"id":"https://openalex.org/I4210127558","display_name":"Australian Centre for Robotic Vision","ror":"https://ror.org/02zv9xv82","country_code":"AU","type":"facility","lineage":["https://openalex.org/I4210127558"]}],"countries":["AU"],"is_corresponding":false,"raw_author_name":"Michael V Jakuba","raw_affiliation_strings":["Australian Centre of Field Robotics (ACFR), University of Sydney, NSW, Australia","Australian Centre for Field Robotics (ACFR), University of Sydney NSW, 2006, Australia"],"affiliations":[{"raw_affiliation_string":"Australian Centre of Field Robotics (ACFR), University of Sydney, NSW, Australia","institution_ids":["https://openalex.org/I4210127558","https://openalex.org/I129604602"]},{"raw_affiliation_string":"Australian Centre for Field Robotics (ACFR), University of Sydney NSW, 2006, Australia","institution_ids":["https://openalex.org/I129604602"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5065120495"],"corresponding_institution_ids":["https://openalex.org/I129604602","https://openalex.org/I4210127558"],"apc_list":null,"apc_paid":null,"fwci":6.7657,"has_fulltext":false,"cited_by_count":29,"citation_normalized_percentile":{"value":0.96609842,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":90,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"4424","last_page":"4431"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11901","display_name":"Bayesian Methods and Mixture Models","score":0.9977999925613403,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"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/T11901","display_name":"Bayesian Methods and Mixture Models","score":0.9977999925613403,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"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/T10711","display_name":"Target Tracking and Data Fusion in Sensor Networks","score":0.9825000166893005,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"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/T10659","display_name":"Marine animal studies overview","score":0.9603999853134155,"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/mixture-model","display_name":"Mixture model","score":0.7371241450309753},{"id":"https://openalex.org/keywords/hidden-markov-model","display_name":"Hidden Markov model","score":0.7018817067146301},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6918335556983948},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.6113556623458862},{"id":"https://openalex.org/keywords/gaussian-process","display_name":"Gaussian process","score":0.5318154096603394},{"id":"https://openalex.org/keywords/classifier","display_name":"Classifier (UML)","score":0.488605797290802},{"id":"https://openalex.org/keywords/dirichlet-process","display_name":"Dirichlet process","score":0.47408950328826904},{"id":"https://openalex.org/keywords/pattern-recognition","display_name":"Pattern recognition (psychology)","score":0.4385468363761902},{"id":"https://openalex.org/keywords/filter","display_name":"Filter (signal processing)","score":0.4285701513290405},{"id":"https://openalex.org/keywords/machine-learning","display_name":"Machine learning","score":0.413104385137558},{"id":"https://openalex.org/keywords/gaussian","display_name":"Gaussian","score":0.35580700635910034},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.13516563177108765}],"concepts":[{"id":"https://openalex.org/C61224824","wikidata":"https://www.wikidata.org/wiki/Q2260434","display_name":"Mixture model","level":2,"score":0.7371241450309753},{"id":"https://openalex.org/C23224414","wikidata":"https://www.wikidata.org/wiki/Q176769","display_name":"Hidden Markov model","level":2,"score":0.7018817067146301},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6918335556983948},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6113556623458862},{"id":"https://openalex.org/C61326573","wikidata":"https://www.wikidata.org/wiki/Q1496376","display_name":"Gaussian process","level":3,"score":0.5318154096603394},{"id":"https://openalex.org/C95623464","wikidata":"https://www.wikidata.org/wiki/Q1096149","display_name":"Classifier (UML)","level":2,"score":0.488605797290802},{"id":"https://openalex.org/C2781280628","wikidata":"https://www.wikidata.org/wiki/Q5280766","display_name":"Dirichlet process","level":3,"score":0.47408950328826904},{"id":"https://openalex.org/C153180895","wikidata":"https://www.wikidata.org/wiki/Q7148389","display_name":"Pattern recognition (psychology)","level":2,"score":0.4385468363761902},{"id":"https://openalex.org/C106131492","wikidata":"https://www.wikidata.org/wiki/Q3072260","display_name":"Filter (signal processing)","level":2,"score":0.4285701513290405},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.413104385137558},{"id":"https://openalex.org/C163716315","wikidata":"https://www.wikidata.org/wiki/Q901177","display_name":"Gaussian","level":2,"score":0.35580700635910034},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.13516563177108765},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","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/C2776214188","wikidata":"https://www.wikidata.org/wiki/Q408386","display_name":"Inference","level":2,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros.2010.5652480","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2010.5652480","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":[{"id":"https://metadata.un.org/sdg/14","display_name":"Life below water","score":0.8100000023841858}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":43,"referenced_works":["https://openalex.org/W1508960934","https://openalex.org/W1614026214","https://openalex.org/W1663973292","https://openalex.org/W1746819321","https://openalex.org/W1833498382","https://openalex.org/W1902387477","https://openalex.org/W1967687583","https://openalex.org/W1985343230","https://openalex.org/W1986538275","https://openalex.org/W2004699259","https://openalex.org/W2059929763","https://openalex.org/W2069429561","https://openalex.org/W2080972498","https://openalex.org/W2086985484","https://openalex.org/W2089484716","https://openalex.org/W2090523329","https://openalex.org/W2091797506","https://openalex.org/W2105001320","https://openalex.org/W2109176692","https://openalex.org/W2120636621","https://openalex.org/W2122410182","https://openalex.org/W2128012710","https://openalex.org/W2128554449","https://openalex.org/W2151967501","https://openalex.org/W2163419695","https://openalex.org/W2164323171","https://openalex.org/W2167040678","https://openalex.org/W2168319451","https://openalex.org/W2170909269","https://openalex.org/W2204383650","https://openalex.org/W2467379829","https://openalex.org/W4211049957","https://openalex.org/W4212863985","https://openalex.org/W4214823344","https://openalex.org/W4285719527","https://openalex.org/W6636382537","https://openalex.org/W6638813818","https://openalex.org/W6678007500","https://openalex.org/W6682569104","https://openalex.org/W6684375176","https://openalex.org/W6684585897","https://openalex.org/W6684900804","https://openalex.org/W7047481091"],"related_works":["https://openalex.org/W4324119469","https://openalex.org/W2164868312","https://openalex.org/W2160650576","https://openalex.org/W4386716613","https://openalex.org/W4293482264","https://openalex.org/W1614270630","https://openalex.org/W1605972624","https://openalex.org/W1833498382","https://openalex.org/W2031917313","https://openalex.org/W3194589442"],"abstract_inverted_index":{"Robotic":[0,43],"agents":[1],"that":[2,121,167],"can":[3],"explore":[4],"and":[5,23,79,104,157],"sample":[6],"in":[7,21,49,115],"a":[8,62,67,80,171],"completely":[9],"unsupervised":[10,99],"fashion":[11],"could":[12],"greatly":[13],"increase":[14],"the":[15,30,87,94,102,110,111,116,122,125,130,136,141,149,154,161,168],"amount":[16],"of":[17,45,60,89,93,113,153,160,178],"scientific":[18],"data":[19,51],"gathered":[20],"dangerous":[22],"inaccessible":[24],"environments.":[25],"Our":[26],"application":[27],"is":[28,170],"imaging":[29],"benthos":[31],"using":[32,61,98],"an":[33,73],"autonomous":[34,176],"underwater":[35],"vehicle":[36],"with":[37],"limited":[38],"communication":[39],"to":[40,129,135,147,163],"surface":[41],"craft.":[42],"exploration":[44],"this":[46,54,56],"nature":[47],"demands":[48],"situ":[50],"analysis.":[52],"To":[53],"end,":[55],"paper":[57],"presents":[58],"results":[59],"Gaussian":[63,75],"Mixture":[64,76],"Model":[65,70,77],"(GMM),":[66],"Hidden":[68],"Markov":[69],"(HMM)":[71],"filter,":[72],"Infinite":[74],"(IGMM)":[78],"Variation":[81],"Dirichlet":[82],"Process":[83],"model":[84,173],"(VDP)":[85],"for":[86,174],"classification":[88,131,142],"benthic":[90,179],"habitats.":[91],"All":[92],"models":[95],"are":[96,106],"trained":[97,107],"methods.":[100],"Furthermore,":[101],"IGMM":[103],"VDP":[105,145,169],"without":[108],"knowing":[109],"number":[112],"classes":[114],"dataset.":[117],"It":[118],"was":[119],"found":[120],"sequential":[123],"information":[124],"HMM":[126],"filter":[127],"provides":[128],"process":[132],"adds":[133],"lag":[134],"habitat":[137],"boundary":[138],"estimates,":[139],"reducing":[140],"accuracy.":[143],"The":[144],"proved":[146],"be":[148],"most":[150],"accurate":[151],"classifier":[152],"four":[155],"tested,":[156],"also":[158],"one":[159],"fastest":[162],"train.":[164],"We":[165],"conclude":[166],"powerful":[172],"entirely":[175],"labelling":[177],"datasets.":[180]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":1},{"year":2022,"cited_by_count":2},{"year":2020,"cited_by_count":2},{"year":2017,"cited_by_count":1},{"year":2016,"cited_by_count":5},{"year":2014,"cited_by_count":2},{"year":2013,"cited_by_count":5},{"year":2012,"cited_by_count":6}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}