{"id":"https://openalex.org/W2160401976","doi":"https://doi.org/10.1109/iros.2011.6095158","title":"Toward automatic classification of chemical sensor data from autonomous underwater vehicles","display_name":"Toward automatic classification of chemical sensor data from autonomous underwater vehicles","publication_year":2011,"publication_date":"2011-09-01","ids":{"openalex":"https://openalex.org/W2160401976","doi":"https://doi.org/10.1109/iros.2011.6095158","mag":"2160401976"},"language":"en","primary_location":{"id":"doi:10.1109/iros.2011.6095158","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2011.6095158","pdf_url":null,"source":{"id":"https://openalex.org/S4363608614","display_name":"2011 IEEE/RSJ International Conference on Intelligent Robots and Systems","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2011 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/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":true,"raw_author_name":"Michael V. Jakuba","raw_affiliation_strings":["Australian Centre of Field Robotics, University of Sydney, Sydney, NSW, Australia"],"affiliations":[{"raw_affiliation_string":"Australian Centre of Field Robotics, University of Sydney, Sydney, NSW, Australia","institution_ids":["https://openalex.org/I4210127558","https://openalex.org/I129604602"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5065120495","display_name":"Daniel Steinberg","orcid":"https://orcid.org/0000-0003-1887-5115"},"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":"Daniel Steinberg","raw_affiliation_strings":["Australian Centre of Field Robotics, University of Sydney, Sydney, NSW, Australia"],"affiliations":[{"raw_affiliation_string":"Australian Centre of Field Robotics, University of Sydney, Sydney, NSW, Australia","institution_ids":["https://openalex.org/I4210127558","https://openalex.org/I129604602"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5108384534","display_name":"James C. Kinsey","orcid":null},"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":"James C. Kinsey","raw_affiliation_strings":["Deep Submergence Laboratory, Woods Hole Oceanographic Institution, Woods Hole, MA, USA"],"affiliations":[{"raw_affiliation_string":"Deep Submergence Laboratory, Woods Hole Oceanographic Institution, Woods Hole, MA, USA","institution_ids":["https://openalex.org/I66958751"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5026673043","display_name":"D. Yoerger","orcid":"https://orcid.org/0000-0002-9100-7835"},"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":"Dana R. Yoerger","raw_affiliation_strings":["Deep Submergence Laboratory, Woods Hole Oceanographic Institution, Woods Hole, MA, USA"],"affiliations":[{"raw_affiliation_string":"Deep Submergence Laboratory, Woods Hole Oceanographic Institution, Woods Hole, MA, USA","institution_ids":["https://openalex.org/I66958751"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5018823783","display_name":"Richard Camilli","orcid":"https://orcid.org/0000-0001-8049-4298"},"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":"Richard Camilli","raw_affiliation_strings":["Deep Submergence Laboratory, Woods Hole Oceanographic Institution, Woods Hole, MA, USA"],"affiliations":[{"raw_affiliation_string":"Deep Submergence Laboratory, Woods Hole Oceanographic Institution, Woods Hole, MA, USA","institution_ids":["https://openalex.org/I66958751"]}]},{"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, University of Sydney, Sydney, NSW, Australia"],"affiliations":[{"raw_affiliation_string":"Australian Centre of Field Robotics, University of Sydney, Sydney, NSW, Australia","institution_ids":["https://openalex.org/I4210127558","https://openalex.org/I129604602"]}]},{"author_position":"last","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, University of Sydney, Sydney, NSW, Australia"],"affiliations":[{"raw_affiliation_string":"Australian Centre of Field Robotics, University of Sydney, Sydney, NSW, Australia","institution_ids":["https://openalex.org/I4210127558","https://openalex.org/I129604602"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":7,"corresponding_author_ids":["https://openalex.org/A5058692138"],"corresponding_institution_ids":["https://openalex.org/I129604602","https://openalex.org/I4210127558"],"apc_list":null,"apc_paid":null,"fwci":11.6667,"has_fulltext":false,"cited_by_count":22,"citation_normalized_percentile":{"value":0.996139,"is_in_top_1_percent":true,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":98},"biblio":{"volume":null,"issue":null,"first_page":"4722","last_page":"4727"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11698","display_name":"Underwater Acoustics Research","score":0.9939000010490417,"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"}},"topics":[{"id":"https://openalex.org/T11698","display_name":"Underwater Acoustics Research","score":0.9939000010490417,"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"}},{"id":"https://openalex.org/T10711","display_name":"Target Tracking and Data Fusion in Sensor Networks","score":0.992900013923645,"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/T10255","display_name":"Oceanographic and Atmospheric Processes","score":0.9825000166893005,"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/subsea","display_name":"Subsea","score":0.7638672590255737},{"id":"https://openalex.org/keywords/underwater","display_name":"Underwater","score":0.7210426330566406},{"id":"https://openalex.org/keywords/bathymetry","display_name":"Bathymetry","score":0.716675877571106},{"id":"https://openalex.org/keywords/remotely-operated-underwater-vehicle","display_name":"Remotely operated underwater vehicle","score":0.5678048729896545},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5559630990028381},{"id":"https://openalex.org/keywords/marine-engineering","display_name":"Marine engineering","score":0.49315184354782104},{"id":"https://openalex.org/keywords/water-column","display_name":"Water column","score":0.4889744520187378},{"id":"https://openalex.org/keywords/remote-sensing","display_name":"Remote sensing","score":0.45171406865119934},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.41351231932640076},{"id":"https://openalex.org/keywords/real-time-computing","display_name":"Real-time computing","score":0.3366040289402008},{"id":"https://openalex.org/keywords/geology","display_name":"Geology","score":0.2721473276615143},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.23643788695335388},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.19827690720558167},{"id":"https://openalex.org/keywords/oceanography","display_name":"Oceanography","score":0.1648317277431488},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.15133622288703918}],"concepts":[{"id":"https://openalex.org/C2777737062","wikidata":"https://www.wikidata.org/wiki/Q14898686","display_name":"Subsea","level":2,"score":0.7638672590255737},{"id":"https://openalex.org/C98083399","wikidata":"https://www.wikidata.org/wiki/Q3246517","display_name":"Underwater","level":2,"score":0.7210426330566406},{"id":"https://openalex.org/C174943157","wikidata":"https://www.wikidata.org/wiki/Q810826","display_name":"Bathymetry","level":2,"score":0.716675877571106},{"id":"https://openalex.org/C145424490","wikidata":"https://www.wikidata.org/wiki/Q618465","display_name":"Remotely operated underwater vehicle","level":4,"score":0.5678048729896545},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5559630990028381},{"id":"https://openalex.org/C199104240","wikidata":"https://www.wikidata.org/wiki/Q118291","display_name":"Marine engineering","level":1,"score":0.49315184354782104},{"id":"https://openalex.org/C122846477","wikidata":"https://www.wikidata.org/wiki/Q1395805","display_name":"Water column","level":2,"score":0.4889744520187378},{"id":"https://openalex.org/C62649853","wikidata":"https://www.wikidata.org/wiki/Q199687","display_name":"Remote sensing","level":1,"score":0.45171406865119934},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.41351231932640076},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.3366040289402008},{"id":"https://openalex.org/C127313418","wikidata":"https://www.wikidata.org/wiki/Q1069","display_name":"Geology","level":0,"score":0.2721473276615143},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.23643788695335388},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.19827690720558167},{"id":"https://openalex.org/C111368507","wikidata":"https://www.wikidata.org/wiki/Q43518","display_name":"Oceanography","level":1,"score":0.1648317277431488},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.15133622288703918}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros.2011.6095158","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2011.6095158","pdf_url":null,"source":{"id":"https://openalex.org/S4363608614","display_name":"2011 IEEE/RSJ International Conference on Intelligent Robots and Systems","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2011 IEEE/RSJ International Conference on Intelligent Robots and Systems","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Life below water","id":"https://metadata.un.org/sdg/14","score":0.8399999737739563}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":24,"referenced_works":["https://openalex.org/W1540484164","https://openalex.org/W1607802454","https://openalex.org/W1967687583","https://openalex.org/W1981367618","https://openalex.org/W2004773361","https://openalex.org/W2004892246","https://openalex.org/W2013414343","https://openalex.org/W2025822271","https://openalex.org/W2032786452","https://openalex.org/W2066150962","https://openalex.org/W2069429561","https://openalex.org/W2107010145","https://openalex.org/W2111232988","https://openalex.org/W2115979064","https://openalex.org/W2132914434","https://openalex.org/W2159172292","https://openalex.org/W2165232124","https://openalex.org/W2166702347","https://openalex.org/W2168319451","https://openalex.org/W3140001516","https://openalex.org/W4214823344","https://openalex.org/W4312091107","https://openalex.org/W6632212546","https://openalex.org/W6684585897"],"related_works":["https://openalex.org/W137594157","https://openalex.org/W199766382","https://openalex.org/W2192795600","https://openalex.org/W2909348773","https://openalex.org/W2609590105","https://openalex.org/W2503844045","https://openalex.org/W2018781886","https://openalex.org/W573888369","https://openalex.org/W2005549124","https://openalex.org/W4372267671"],"abstract_inverted_index":{"Autonomous":[0],"underwater":[1,58],"vehicles":[2],"(AUVs)":[3],"are":[4],"commonly":[5],"used":[6],"to":[7,46,66,86,112,158,180],"support":[8],"oceanographic":[9],"science":[10],"by":[11,31,82,170],"providing":[12],"water-column":[13,113,121,135],"mapping,":[14],"seafloor":[15],"bathymetric":[16],"and":[17,20,115],"photographic":[18],"survey,":[19],"deep-sea":[21],"exploration":[22],"capabilities.":[23],"In":[24,101],"practice,":[25],"the":[26,64,77,118,145,159,171,181,186],"mapping":[27],"activities":[28],"carried":[29],"out":[30],"AUVs":[32,61],"consist":[33],"of":[34,79,120,134,161,183],"flying":[35],"either":[36],"pre-programmed":[37],"tracklines":[38],"(most":[39],"propeller-driven":[40],"AUVs),":[41],"or":[42,91,95],"else":[43],"reporting":[44],"data":[45,123,137,168],"human":[47],"operators":[48],"at":[49],"regular":[50],"intervals":[51],"that":[52,117],"permit":[53],"retasking":[54],"(typical":[55],"for":[56],"month-long":[57],"glider":[59],"deployments).":[60],"equipped":[62],"with":[63,150],"ability":[65],"reason":[67],"about":[68],"scientific":[69],"objectives":[70],"in":[71],"real":[72],"time":[73],"could":[74],"significantly":[75],"increase":[76],"value":[78],"individual":[80],"deployments":[81],"enabling":[83,127],"sampling":[84],"efforts":[85],"be":[87],"focused":[88],"on":[89,106],"targets":[90],"areas":[92],"identified":[93],"autonomously":[94],"semi-autonomously":[96],"as":[97,109],"scientifically":[98],"interesting":[99],"[1].":[100],"this":[102],"paper,":[103],"we":[104],"focus":[105],"AUV":[107,176],"autonomy":[108],"it":[110],"pertains":[111],"sensing":[114],"argue":[116],"classification":[119,133],"sensor":[122,136],"represents":[124],"an":[125,178],"important":[126],"capability.":[128],"We":[129],"demonstrate":[130],"practical,":[131],"semi-supervised":[132],"using":[138,167],"a":[139,162],"particular":[140],"Bayesian,":[141],"non-parametric":[142],"clustering":[143],"method,":[144],"Variational":[146],"Dirichlet":[147],"Process,":[148],"combined":[149],"operator-supplied":[151],"semantic":[152],"labeling.":[153],"The":[154],"method":[155],"is":[156],"applied":[157],"detection":[160],"deep":[163],"subsea":[164],"hydrocarbon":[165],"plume":[166],"collected":[169],"Woods":[172],"Hole":[173],"Oceanographic's":[174],"Sentry":[175],"during":[177],"expedition":[179],"Gulf":[182],"Mexico":[184],"following":[185],"Deepwater":[187],"Horizon":[188],"blowout":[189],"disaster.":[190]},"counts_by_year":[{"year":2025,"cited_by_count":2},{"year":2023,"cited_by_count":1},{"year":2022,"cited_by_count":2},{"year":2021,"cited_by_count":2},{"year":2020,"cited_by_count":2},{"year":2019,"cited_by_count":1},{"year":2017,"cited_by_count":3},{"year":2016,"cited_by_count":2},{"year":2014,"cited_by_count":4},{"year":2012,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}