{"id":"https://openalex.org/W2561341811","doi":"https://doi.org/10.1109/iros.2016.7759317","title":"Towards real-time underwater 3D reconstruction with plenoptic cameras","display_name":"Towards real-time underwater 3D reconstruction with plenoptic cameras","publication_year":2016,"publication_date":"2016-10-01","ids":{"openalex":"https://openalex.org/W2561341811","doi":"https://doi.org/10.1109/iros.2016.7759317","mag":"2561341811"},"language":"en","primary_location":{"id":"doi:10.1109/iros.2016.7759317","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2016.7759317","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"},"type":"conference-paper","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/A5002924029","display_name":"Katherine A. Skinner","orcid":"https://orcid.org/0000-0003-4775-5040"},"institutions":[{"id":"https://openalex.org/I27837315","display_name":"University of Michigan","ror":"https://ror.org/00jmfr291","country_code":"US","type":"education","lineage":["https://openalex.org/I27837315"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Katherine A. Skinner","raw_affiliation_strings":["Robotics Program, University of Michigan, Ann Arbor, MI, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Robotics Program, University of Michigan, Ann Arbor, MI, USA","institution_ids":["https://openalex.org/I27837315"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5089990642","display_name":"Matthew Johnson\u2010Roberson","orcid":"https://orcid.org/0000-0002-0506-907X"},"institutions":[{"id":"https://openalex.org/I27837315","display_name":"University of Michigan","ror":"https://ror.org/00jmfr291","country_code":"US","type":"education","lineage":["https://openalex.org/I27837315"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Matthew Johnson-Roberson","raw_affiliation_strings":["Department of Naval Architecture and Marine Engineering, University of Michigan, Ann Arbor, MI, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Naval Architecture and Marine Engineering, University of Michigan, Ann Arbor, MI, USA","institution_ids":["https://openalex.org/I27837315"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I27837315"],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":25,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":"17","issue":null,"first_page":"2014","last_page":"2021"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9998000264167786,"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":0.9998000264167786,"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":0.9986000061035156,"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/T10638","display_name":"Optical measurement and interference techniques","score":0.9980999827384949,"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/computer-science","display_name":"Computer science","score":0.7292733788490295},{"id":"https://openalex.org/keywords/underwater","display_name":"Underwater","score":0.7188361883163452},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.6547256708145142},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.6481668949127197},{"id":"https://openalex.org/keywords/rgb-color-model","display_name":"RGB color model","score":0.5634223222732544},{"id":"https://openalex.org/keywords/subsea","display_name":"Subsea","score":0.5468078851699829},{"id":"https://openalex.org/keywords/light-field","display_name":"Light field","score":0.5368760824203491},{"id":"https://openalex.org/keywords/stereo-display","display_name":"Stereo display","score":0.48689261078834534},{"id":"https://openalex.org/keywords/computer-graphics","display_name":"Computer graphics (images)","score":0.4565018117427826},{"id":"https://openalex.org/keywords/depth-perception","display_name":"Depth perception","score":0.44453203678131104},{"id":"https://openalex.org/keywords/attenuation","display_name":"Attenuation","score":0.43039751052856445},{"id":"https://openalex.org/keywords/3d-reconstruction","display_name":"3D reconstruction","score":0.4303587079048157},{"id":"https://openalex.org/keywords/pipeline","display_name":"Pipeline (software)","score":0.42795997858047485},{"id":"https://openalex.org/keywords/perception","display_name":"Perception","score":0.2158297300338745},{"id":"https://openalex.org/keywords/geology","display_name":"Geology","score":0.17402952909469604},{"id":"https://openalex.org/keywords/optics","display_name":"Optics","score":0.11824014782905579}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7292733788490295},{"id":"https://openalex.org/C98083399","wikidata":"https://www.wikidata.org/wiki/Q3246517","display_name":"Underwater","level":2,"score":0.7188361883163452},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6547256708145142},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.6481668949127197},{"id":"https://openalex.org/C82990744","wikidata":"https://www.wikidata.org/wiki/Q166194","display_name":"RGB color model","level":2,"score":0.5634223222732544},{"id":"https://openalex.org/C2777737062","wikidata":"https://www.wikidata.org/wiki/Q14898686","display_name":"Subsea","level":2,"score":0.5468078851699829},{"id":"https://openalex.org/C48983235","wikidata":"https://www.wikidata.org/wiki/Q593161","display_name":"Light field","level":2,"score":0.5368760824203491},{"id":"https://openalex.org/C1223959","wikidata":"https://www.wikidata.org/wiki/Q1191960","display_name":"Stereo display","level":2,"score":0.48689261078834534},{"id":"https://openalex.org/C121684516","wikidata":"https://www.wikidata.org/wiki/Q7600677","display_name":"Computer graphics (images)","level":1,"score":0.4565018117427826},{"id":"https://openalex.org/C52672216","wikidata":"https://www.wikidata.org/wiki/Q1749840","display_name":"Depth perception","level":3,"score":0.44453203678131104},{"id":"https://openalex.org/C184652730","wikidata":"https://www.wikidata.org/wiki/Q2357982","display_name":"Attenuation","level":2,"score":0.43039751052856445},{"id":"https://openalex.org/C109950114","wikidata":"https://www.wikidata.org/wiki/Q4464732","display_name":"3D reconstruction","level":2,"score":0.4303587079048157},{"id":"https://openalex.org/C43521106","wikidata":"https://www.wikidata.org/wiki/Q2165493","display_name":"Pipeline (software)","level":2,"score":0.42795997858047485},{"id":"https://openalex.org/C26760741","wikidata":"https://www.wikidata.org/wiki/Q160402","display_name":"Perception","level":2,"score":0.2158297300338745},{"id":"https://openalex.org/C127313418","wikidata":"https://www.wikidata.org/wiki/Q1069","display_name":"Geology","level":0,"score":0.17402952909469604},{"id":"https://openalex.org/C120665830","wikidata":"https://www.wikidata.org/wiki/Q14620","display_name":"Optics","level":1,"score":0.11824014782905579},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C169760540","wikidata":"https://www.wikidata.org/wiki/Q207011","display_name":"Neuroscience","level":1,"score":0.0},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C111368507","wikidata":"https://www.wikidata.org/wiki/Q43518","display_name":"Oceanography","level":1,"score":0.0},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros.2016.7759317","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2016.7759317","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Life below water","score":0.6700000166893005,"id":"https://metadata.un.org/sdg/14"}],"awards":[],"funders":[{"id":"https://openalex.org/F4320309652","display_name":"University of Michigan","ror":"https://ror.org/00jmfr291"},{"id":"https://openalex.org/F4320316712","display_name":"U-M Water Center","ror":null}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":30,"referenced_works":["https://openalex.org/W137465598","https://openalex.org/W276045419","https://openalex.org/W1569348869","https://openalex.org/W1578285471","https://openalex.org/W1716229439","https://openalex.org/W1950883283","https://openalex.org/W1979177351","https://openalex.org/W1987648924","https://openalex.org/W1998882857","https://openalex.org/W2007165614","https://openalex.org/W2035274331","https://openalex.org/W2040660326","https://openalex.org/W2041285268","https://openalex.org/W2043408784","https://openalex.org/W2056898157","https://openalex.org/W2065906272","https://openalex.org/W2108134361","https://openalex.org/W2117127313","https://openalex.org/W2118104180","https://openalex.org/W2135468295","https://openalex.org/W2136475364","https://openalex.org/W2143050242","https://openalex.org/W2149694199","https://openalex.org/W2250172176","https://openalex.org/W2751023760","https://openalex.org/W4241266354","https://openalex.org/W6610021723","https://openalex.org/W6634000625","https://openalex.org/W6637636807","https://openalex.org/W6641005447"],"related_works":["https://openalex.org/W4200069431","https://openalex.org/W2144845220","https://openalex.org/W1557651975","https://openalex.org/W4283766825","https://openalex.org/W3127226569","https://openalex.org/W4385369687","https://openalex.org/W2753526068","https://openalex.org/W2334078434","https://openalex.org/W2071866967","https://openalex.org/W4251977926"],"abstract_inverted_index":{"Achieving":[0],"real-time":[1,81,142,166,200],"perception":[2],"is":[3,56,216],"critical":[4],"to":[5,119,136,140,160,198,230],"developing":[6],"a":[7,126,174,193,209,222],"fully":[8],"autonomous":[9],"system":[10,135,147],"that":[11,232],"can":[12,236],"sense,":[13],"navigate,":[14],"and":[15,27,47,116,122,168,177,212],"interact":[16],"with":[17,221],"its":[18],"environment.":[19],"Perception":[20],"tasks":[21],"such":[22,43],"as":[23,44,102],"online":[24,153],"3D":[25,143,155,180,225,239],"reconstruction":[26,181],"mapping":[28,88],"have":[29,91],"been":[30,92],"intensely":[31],"studied":[32],"for":[33,63,184,205],"terrestrial":[34,87,154],"robotics":[35],"applications.":[36,65],"However,":[37],"characteristics":[38],"of":[39,70,80,98,110,187,241],"the":[40,51,67,96,150,161,188,213,233],"underwater":[41,73,162,172,189,243],"domain":[42,163],"light":[45,48,71,103],"attenuation":[46,185],"scattering":[49],"violate":[50],"brightness":[52],"constancy":[53],"constraint,":[54],"which":[55,106],"an":[57,108,133],"underlying":[58],"assumption":[59],"in":[60,85,95,152,208,228,244],"methods":[61],"developed":[62],"land-based":[64],"Furthermore,":[66],"complex":[68],"nature":[69],"propagation":[72],"limits":[74],"or":[75],"even":[76],"prevents":[77],"subsea":[78],"use":[79,107],"depth":[82,123,169],"sensors":[83],"used":[84],"state-of-the-art":[86,151],"techniques.":[89],"There":[90],"recent":[93],"advances":[94],"development":[97],"plenoptic":[99,175],"(also":[100],"known":[101],"field)":[104],"cameras,":[105],"array":[109],"micro":[111],"lenses":[112],"capturing":[113],"both":[114],"intensity":[115],"ray":[117],"direction":[118],"enable":[120],"color":[121,167],"measurement":[124],"from":[125],"single":[127],"passive":[128],"sensor.":[129],"This":[130],"paper":[131],"presents":[132],"end-to-end":[134],"harness":[137],"these":[138,158],"cameras":[139],"produce":[141],"reconstructions":[144],"underwater.":[145],"Our":[146],"builds":[148],"upon":[149],"reconstruction,":[156],"transferring":[157],"approaches":[159],"by":[164],"gathering":[165],"(RGB-D)":[170],"data":[171,206],"using":[173,192],"camera,":[176],"performing":[178],"dense":[179],"while":[182],"compensating":[183],"effects":[186],"environment":[190],"simultaneously,":[191],"graphics":[194],"processing":[195],"unit":[196],"(GPU)":[197],"achieve":[199],"performance.":[201],"Results":[202],"are":[203],"presented":[204],"gathered":[207,227],"water":[210],"tank":[211],"proposed":[214,234],"technique":[215],"validated":[217],"quantitatively":[218],"through":[219],"comparison":[220],"ground":[223],"truth":[224],"model":[226],"air":[229],"demonstrate":[231],"approach":[235],"generate":[237],"accurate":[238],"models":[240],"objects":[242],"real-time.":[245]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":3},{"year":2022,"cited_by_count":3},{"year":2021,"cited_by_count":4},{"year":2020,"cited_by_count":3},{"year":2019,"cited_by_count":6},{"year":2018,"cited_by_count":2},{"year":2017,"cited_by_count":2}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}