{"id":"https://openalex.org/W2565482210","doi":"https://doi.org/10.1109/iros.2016.7759687","title":"Real-time monocular obstacle avoidance using Underwater Dark Channel Prior","display_name":"Real-time monocular obstacle avoidance using Underwater Dark Channel Prior","publication_year":2016,"publication_date":"2016-10-01","ids":{"openalex":"https://openalex.org/W2565482210","doi":"https://doi.org/10.1109/iros.2016.7759687","mag":"2565482210"},"language":"en","primary_location":{"id":"doi:10.1109/iros.2016.7759687","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2016.7759687","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":"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/A5037041582","display_name":"Paulo Drews","orcid":"https://orcid.org/0000-0002-7519-0502"},"institutions":[{"id":"https://openalex.org/I110200422","display_name":"Universidade Federal de Minas Gerais","ror":"https://ror.org/0176yjw32","country_code":"BR","type":"education","lineage":["https://openalex.org/I110200422"]},{"id":"https://openalex.org/I126460647","display_name":"Universidade Federal do Rio Grande","ror":"https://ror.org/05hpfkn88","country_code":"BR","type":"education","lineage":["https://openalex.org/I126460647"]}],"countries":["BR"],"is_corresponding":false,"raw_author_name":"Paulo Drews","raw_affiliation_strings":["Autonomous Systems Laboratory, Brisbane, Australia","Dep. de Ci\u00eancia da Computa\u00e7\u00e3o, Univ. Federal de Minas Gerais - UFMG, Belo Horizonte, Brazil","NAUTEC, Intelligent Robotics and Automation Group, Univ. Federal do Rio Grande - FURG, Rio Grande, Brazil"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Autonomous Systems Laboratory, Brisbane, Australia","institution_ids":[]},{"raw_affiliation_string":"Dep. de Ci\u00eancia da Computa\u00e7\u00e3o, Univ. Federal de Minas Gerais - UFMG, Belo Horizonte, Brazil","institution_ids":["https://openalex.org/I110200422"]},{"raw_affiliation_string":"NAUTEC, Intelligent Robotics and Automation Group, Univ. Federal do Rio Grande - FURG, Rio Grande, Brazil","institution_ids":["https://openalex.org/I126460647"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5021750625","display_name":"Emili Hern\u00e1ndez","orcid":"https://orcid.org/0000-0002-6143-6161"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Emili Hernandez","raw_affiliation_strings":["Autonomous Systems Laboratory, Brisbane, Australia"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Autonomous Systems Laboratory, Brisbane, Australia","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5085516662","display_name":"Alberto Elfes","orcid":"https://orcid.org/0000-0003-2433-995X"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Alberto Elfes","raw_affiliation_strings":["Autonomous Systems Laboratory, Brisbane, Australia"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Autonomous Systems Laboratory, Brisbane, Australia","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5002613601","display_name":"Erickson R. Nascimento","orcid":"https://orcid.org/0000-0003-2973-2232"},"institutions":[{"id":"https://openalex.org/I110200422","display_name":"Universidade Federal de Minas Gerais","ror":"https://ror.org/0176yjw32","country_code":"BR","type":"education","lineage":["https://openalex.org/I110200422"]}],"countries":["BR"],"is_corresponding":false,"raw_author_name":"Erickson R. Nascimento","raw_affiliation_strings":["Dep. de Ci\u00eancia da Computa\u00e7\u00e3o, Univ. Federal de Minas Gerais - UFMG, Belo Horizonte, Brazil"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Dep. de Ci\u00eancia da Computa\u00e7\u00e3o, Univ. Federal de Minas Gerais - UFMG, Belo Horizonte, Brazil","institution_ids":["https://openalex.org/I110200422"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5015111328","display_name":"M\u00e1rio F. M. Campos","orcid":"https://orcid.org/0000-0002-8336-9190"},"institutions":[{"id":"https://openalex.org/I110200422","display_name":"Universidade Federal de Minas Gerais","ror":"https://ror.org/0176yjw32","country_code":"BR","type":"education","lineage":["https://openalex.org/I110200422"]}],"countries":["BR"],"is_corresponding":false,"raw_author_name":"Mario Campos","raw_affiliation_strings":["Dep. de Ci\u00eancia da Computa\u00e7\u00e3o, Univ. Federal de Minas Gerais - UFMG, Belo Horizonte, Brazil"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Dep. de Ci\u00eancia da Computa\u00e7\u00e3o, Univ. Federal de Minas Gerais - UFMG, Belo Horizonte, Brazil","institution_ids":["https://openalex.org/I110200422"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":16.5654,"has_fulltext":false,"cited_by_count":24,"citation_normalized_percentile":{"value":0.98701434,"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":"4672","last_page":"4677"},"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/T11192","display_name":"Underwater Vehicles and Communication Systems","score":0.9993000030517578,"subfield":{"id":"https://openalex.org/subfields/2212","display_name":"Ocean 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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9984999895095825,"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/monocular","display_name":"Monocular","score":0.6987736225128174},{"id":"https://openalex.org/keywords/obstacle","display_name":"Obstacle","score":0.6588911414146423},{"id":"https://openalex.org/keywords/channel","display_name":"Channel (broadcasting)","score":0.6136354804039001},{"id":"https://openalex.org/keywords/underwater","display_name":"Underwater","score":0.6103699803352356},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6074767112731934},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.5908891558647156},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5802825689315796},{"id":"https://openalex.org/keywords/obstacle-avoidance","display_name":"Obstacle avoidance","score":0.5294365882873535},{"id":"https://openalex.org/keywords/collision-avoidance","display_name":"Collision avoidance","score":0.44779372215270996},{"id":"https://openalex.org/keywords/geology","display_name":"Geology","score":0.17452198266983032},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.131013423204422},{"id":"https://openalex.org/keywords/geography","display_name":"Geography","score":0.11128166317939758},{"id":"https://openalex.org/keywords/telecommunications","display_name":"Telecommunications","score":0.10248395800590515},{"id":"https://openalex.org/keywords/computer-security","display_name":"Computer security","score":0.06927892565727234},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.05813726782798767},{"id":"https://openalex.org/keywords/collision","display_name":"Collision","score":0.057207196950912476}],"concepts":[{"id":"https://openalex.org/C65909025","wikidata":"https://www.wikidata.org/wiki/Q1945033","display_name":"Monocular","level":2,"score":0.6987736225128174},{"id":"https://openalex.org/C2776650193","wikidata":"https://www.wikidata.org/wiki/Q264661","display_name":"Obstacle","level":2,"score":0.6588911414146423},{"id":"https://openalex.org/C127162648","wikidata":"https://www.wikidata.org/wiki/Q16858953","display_name":"Channel (broadcasting)","level":2,"score":0.6136354804039001},{"id":"https://openalex.org/C98083399","wikidata":"https://www.wikidata.org/wiki/Q3246517","display_name":"Underwater","level":2,"score":0.6103699803352356},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6074767112731934},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.5908891558647156},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5802825689315796},{"id":"https://openalex.org/C6683253","wikidata":"https://www.wikidata.org/wiki/Q7075535","display_name":"Obstacle avoidance","level":4,"score":0.5294365882873535},{"id":"https://openalex.org/C2780864053","wikidata":"https://www.wikidata.org/wiki/Q5147495","display_name":"Collision avoidance","level":3,"score":0.44779372215270996},{"id":"https://openalex.org/C127313418","wikidata":"https://www.wikidata.org/wiki/Q1069","display_name":"Geology","level":0,"score":0.17452198266983032},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.131013423204422},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.11128166317939758},{"id":"https://openalex.org/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","level":1,"score":0.10248395800590515},{"id":"https://openalex.org/C38652104","wikidata":"https://www.wikidata.org/wiki/Q3510521","display_name":"Computer security","level":1,"score":0.06927892565727234},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.05813726782798767},{"id":"https://openalex.org/C121704057","wikidata":"https://www.wikidata.org/wiki/Q352070","display_name":"Collision","level":2,"score":0.057207196950912476},{"id":"https://openalex.org/C111368507","wikidata":"https://www.wikidata.org/wiki/Q43518","display_name":"Oceanography","level":1,"score":0.0},{"id":"https://openalex.org/C166957645","wikidata":"https://www.wikidata.org/wiki/Q23498","display_name":"Archaeology","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros.2016.7759687","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2016.7759687","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":[{"score":0.800000011920929,"id":"https://metadata.un.org/sdg/14","display_name":"Life below water"}],"awards":[],"funders":[{"id":"https://openalex.org/F4320320386","display_name":"Commonwealth Scientific and Industrial Research Organisation","ror":"https://ror.org/03qn8fb07"},{"id":"https://openalex.org/F4320322025","display_name":"Conselho Nacional de Desenvolvimento Cient\u00edfico e Tecnol\u00f3gico","ror":"https://ror.org/03swz6y49"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":31,"referenced_works":["https://openalex.org/W1494111892","https://openalex.org/W1521785144","https://openalex.org/W1564498658","https://openalex.org/W1990592195","https://openalex.org/W2002116299","https://openalex.org/W2009071067","https://openalex.org/W2040665675","https://openalex.org/W2041285268","https://openalex.org/W2054369744","https://openalex.org/W2077073292","https://openalex.org/W2082968119","https://openalex.org/W2111256357","https://openalex.org/W2118246710","https://openalex.org/W2135001643","https://openalex.org/W2148887646","https://openalex.org/W2153178980","https://openalex.org/W2154647909","https://openalex.org/W2155474167","https://openalex.org/W2171792626","https://openalex.org/W2177287545","https://openalex.org/W2221147406","https://openalex.org/W2293497127","https://openalex.org/W2293581118","https://openalex.org/W2406310103","https://openalex.org/W3210232381","https://openalex.org/W4229511705","https://openalex.org/W6647720530","https://openalex.org/W6688922800","https://openalex.org/W6803376173","https://openalex.org/W6811500012","https://openalex.org/W7025273277"],"related_works":["https://openalex.org/W3197076343","https://openalex.org/W3048415073","https://openalex.org/W2092543616","https://openalex.org/W2992415220","https://openalex.org/W3157621736","https://openalex.org/W3004495063","https://openalex.org/W4312369026","https://openalex.org/W2059002724","https://openalex.org/W2965672371","https://openalex.org/W2508207563"],"abstract_inverted_index":{"In":[0],"this":[1],"paper":[2],"we":[3],"propose":[4],"a":[5,30,47,81,96,100,107,124,131],"new":[6],"vision-based":[7],"obstacle":[8],"avoidance":[9],"strategy":[10],"using":[11],"the":[12,53,57,62,78,89],"Underwater":[13,25],"Dark":[14],"Channel":[15],"Prior":[16],"(UDCP)":[17],"that":[18],"can":[19],"be":[20],"applied":[21],"to":[22,51,87],"any":[23],"Unmanned":[24],"Vehicle":[26,128],"(UUV)":[27],"equipped":[28],"with":[29],"simple":[31],"monocular":[32],"camera":[33],"and":[34,61,80,103],"minimal":[35],"on-board":[36],"processing":[37],"capabilities.":[38],"For":[39],"each":[40],"incoming":[41],"image,":[42],"our":[43,93],"method":[44,109],"first":[45],"computes":[46],"relative":[48],"depth":[49],"map":[50,58],"estimate":[52],"obstacles":[54],"nearby.":[55],"Then,":[56],"is":[59,69,75,84],"segmented":[60],"most":[63],"promising":[64],"Region":[65],"of":[66],"Interest":[67],"(RoI)":[68],"identified.":[70],"Finally,":[71],"an":[72],"escape":[73],"direction":[74],"computed":[76],"within":[77],"RoI":[79],"control":[82],"action":[83],"performed":[85],"accordingly":[86],"avoid":[88],"obstacles.":[90],"We":[91,118],"tested":[92],"approach":[94],"on":[95,123],"video":[97],"sequence":[98],"in":[99,114,130],"natural":[101],"environment":[102],"compared":[104],"it":[105],"against":[106],"state-of-the-art":[108],"showing":[110],"better":[111],"performance,":[112],"specially":[113],"light":[115],"changing":[116],"conditions.":[117],"also":[119],"provide":[120],"online":[121],"results":[122],"low-cost":[125],"Remotely":[126],"Operated":[127],"(ROV)":[129],"controlled":[132],"environment.":[133]},"counts_by_year":[{"year":2026,"cited_by_count":2},{"year":2025,"cited_by_count":2},{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":1},{"year":2022,"cited_by_count":6},{"year":2021,"cited_by_count":4},{"year":2020,"cited_by_count":5},{"year":2019,"cited_by_count":1},{"year":2018,"cited_by_count":1},{"year":2016,"cited_by_count":1}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}
