{"id":"https://openalex.org/W4313023834","doi":"https://doi.org/10.1109/iros47612.2022.9982049","title":"Learning Pseudo Front Depth for 2D Forward-Looking Sonar-based Multi-view Stereo","display_name":"Learning Pseudo Front Depth for 2D Forward-Looking Sonar-based Multi-view Stereo","publication_year":2022,"publication_date":"2022-10-23","ids":{"openalex":"https://openalex.org/W4313023834","doi":"https://doi.org/10.1109/iros47612.2022.9982049"},"language":"en","primary_location":{"id":"doi:10.1109/iros47612.2022.9982049","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros47612.2022.9982049","pdf_url":null,"source":{"id":"https://openalex.org/S4363607704","display_name":"2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","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":"2022 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/A5100606475","display_name":"Yusheng Wang","orcid":"https://orcid.org/0009-0001-2639-1746"},"institutions":[{"id":"https://openalex.org/I4210151738","display_name":"Precision Research (United States)","ror":"https://ror.org/04y784b90","country_code":"US","type":"company","lineage":["https://openalex.org/I4210151738"]},{"id":"https://openalex.org/I74801974","display_name":"The University of Tokyo","ror":"https://ror.org/057zh3y96","country_code":"JP","type":"education","lineage":["https://openalex.org/I74801974"]}],"countries":["JP","US"],"is_corresponding":false,"raw_author_name":"Yusheng Wang","raw_affiliation_strings":["Graduate School of Engineering, The University of Tokyo,Department of Precision Engineering,Japan","Department of Precision Engineering, Graduate School of Engineering, The University of Tokyo, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Graduate School of Engineering, The University of Tokyo,Department of Precision Engineering,Japan","institution_ids":["https://openalex.org/I4210151738"]},{"raw_affiliation_string":"Department of Precision Engineering, Graduate School of Engineering, The University of Tokyo, Japan","institution_ids":["https://openalex.org/I74801974"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5090163777","display_name":"Yonghoon Ji","orcid":"https://orcid.org/0000-0002-0828-6627"},"institutions":[{"id":"https://openalex.org/I177738480","display_name":"Japan Advanced Institute of Science and Technology","ror":"https://ror.org/03frj4r98","country_code":"JP","type":"education","lineage":["https://openalex.org/I177738480"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Yonghoon Ji","raw_affiliation_strings":["Graduate School for Advanced Science and Technology, JAIST,Japan","Graduate School for Advanced Science and Technology, JAIST, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Graduate School for Advanced Science and Technology, JAIST,Japan","institution_ids":["https://openalex.org/I177738480"]},{"raw_affiliation_string":"Graduate School for Advanced Science and Technology, JAIST, Japan","institution_ids":["https://openalex.org/I177738480"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100866983","display_name":"Hiroshi Tsuchiya","orcid":null},"institutions":[{"id":"https://openalex.org/I4210125947","display_name":"Japan Research Institute","ror":"https://ror.org/02m5srn05","country_code":"JP","type":"facility","lineage":["https://openalex.org/I4210125947"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Hiroshi Tsuchiya","raw_affiliation_strings":["Research Institute, Wakachiku Construction Co., Ltd.,Japan","Research Institute, Wakachiku Construction Co., Ltd., Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Research Institute, Wakachiku Construction Co., Ltd.,Japan","institution_ids":["https://openalex.org/I4210125947"]},{"raw_affiliation_string":"Research Institute, Wakachiku Construction Co., Ltd., Japan","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5064103302","display_name":"Hajime Asama","orcid":"https://orcid.org/0000-0002-9482-497X"},"institutions":[{"id":"https://openalex.org/I4210151738","display_name":"Precision Research (United States)","ror":"https://ror.org/04y784b90","country_code":"US","type":"company","lineage":["https://openalex.org/I4210151738"]},{"id":"https://openalex.org/I74801974","display_name":"The University of Tokyo","ror":"https://ror.org/057zh3y96","country_code":"JP","type":"education","lineage":["https://openalex.org/I74801974"]}],"countries":["JP","US"],"is_corresponding":false,"raw_author_name":"Hajime Asama","raw_affiliation_strings":["Graduate School of Engineering, The University of Tokyo,Department of Precision Engineering,Japan","Department of Precision Engineering, Graduate School of Engineering, The University of Tokyo, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Graduate School of Engineering, The University of Tokyo,Department of Precision Engineering,Japan","institution_ids":["https://openalex.org/I4210151738"]},{"raw_affiliation_string":"Department of Precision Engineering, Graduate School of Engineering, The University of Tokyo, Japan","institution_ids":["https://openalex.org/I74801974"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5021260328","display_name":"Atsushi Yamashita","orcid":"https://orcid.org/0000-0003-1280-069X"},"institutions":[{"id":"https://openalex.org/I74801974","display_name":"The University of Tokyo","ror":"https://ror.org/057zh3y96","country_code":"JP","type":"education","lineage":["https://openalex.org/I74801974"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Atsushi Yamashita","raw_affiliation_strings":["Graduate School of Frontier Sciences, The University of Tokyo,Department of Human and Environmental Engineered Studies,Japan","Department of Human and Environmental Engineered Studies, Graduate School of Frontier Sciences, The University of Tokyo, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Graduate School of Frontier Sciences, The University of Tokyo,Department of Human and Environmental Engineered Studies,Japan","institution_ids":["https://openalex.org/I74801974"]},{"raw_affiliation_string":"Department of Human and Environmental Engineered Studies, Graduate School of Frontier Sciences, The University of Tokyo, Japan","institution_ids":["https://openalex.org/I74801974"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":5,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":1.1797,"has_fulltext":false,"cited_by_count":21,"citation_normalized_percentile":{"value":0.86072265,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":95,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"8730","last_page":"8737"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10531","display_name":"Advanced Vision and Imaging","score":0.9998000264167786,"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/T10531","display_name":"Advanced Vision and Imaging","score":0.9998000264167786,"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/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9993000030517578,"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/T11019","display_name":"Image Enhancement Techniques","score":0.9973000288009644,"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":0.7477027177810669},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.7332646250724792},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.6921837329864502},{"id":"https://openalex.org/keywords/sonar","display_name":"Sonar","score":0.4955958127975464},{"id":"https://openalex.org/keywords/elevation","display_name":"Elevation (ballistics)","score":0.45939987897872925},{"id":"https://openalex.org/keywords/ground-truth","display_name":"Ground truth","score":0.44969967007637024},{"id":"https://openalex.org/keywords/underwater","display_name":"Underwater","score":0.4453679323196411},{"id":"https://openalex.org/keywords/depth-map","display_name":"Depth map","score":0.4423840641975403},{"id":"https://openalex.org/keywords/azimuth","display_name":"Azimuth","score":0.42189231514930725},{"id":"https://openalex.org/keywords/image","display_name":"Image (mathematics)","score":0.21971333026885986},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.14603108167648315},{"id":"https://openalex.org/keywords/geology","display_name":"Geology","score":0.10833048820495605}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7477027177810669},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.7332646250724792},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.6921837329864502},{"id":"https://openalex.org/C555745239","wikidata":"https://www.wikidata.org/wiki/Q133220","display_name":"Sonar","level":2,"score":0.4955958127975464},{"id":"https://openalex.org/C37054046","wikidata":"https://www.wikidata.org/wiki/Q641888","display_name":"Elevation (ballistics)","level":2,"score":0.45939987897872925},{"id":"https://openalex.org/C146849305","wikidata":"https://www.wikidata.org/wiki/Q370766","display_name":"Ground truth","level":2,"score":0.44969967007637024},{"id":"https://openalex.org/C98083399","wikidata":"https://www.wikidata.org/wiki/Q3246517","display_name":"Underwater","level":2,"score":0.4453679323196411},{"id":"https://openalex.org/C141268832","wikidata":"https://www.wikidata.org/wiki/Q2940499","display_name":"Depth map","level":3,"score":0.4423840641975403},{"id":"https://openalex.org/C159737794","wikidata":"https://www.wikidata.org/wiki/Q124274","display_name":"Azimuth","level":2,"score":0.42189231514930725},{"id":"https://openalex.org/C115961682","wikidata":"https://www.wikidata.org/wiki/Q860623","display_name":"Image (mathematics)","level":2,"score":0.21971333026885986},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.14603108167648315},{"id":"https://openalex.org/C127313418","wikidata":"https://www.wikidata.org/wiki/Q1069","display_name":"Geology","level":0,"score":0.10833048820495605},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.0},{"id":"https://openalex.org/C111368507","wikidata":"https://www.wikidata.org/wiki/Q43518","display_name":"Oceanography","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros47612.2022.9982049","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros47612.2022.9982049","pdf_url":null,"source":{"id":"https://openalex.org/S4363607704","display_name":"2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","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":"2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.6700000166893005,"display_name":"Life below water","id":"https://metadata.un.org/sdg/14"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":27,"referenced_works":["https://openalex.org/W1772650917","https://openalex.org/W1816460154","https://openalex.org/W1901129140","https://openalex.org/W1984460673","https://openalex.org/W2138821028","https://openalex.org/W2220620423","https://openalex.org/W2259424905","https://openalex.org/W2344693513","https://openalex.org/W2515288524","https://openalex.org/W2604231069","https://openalex.org/W2765881441","https://openalex.org/W2772328958","https://openalex.org/W2793723378","https://openalex.org/W2795298767","https://openalex.org/W2899341323","https://openalex.org/W2962793285","https://openalex.org/W2964153986","https://openalex.org/W2966943864","https://openalex.org/W3003384814","https://openalex.org/W3004127223","https://openalex.org/W3110885542","https://openalex.org/W3122968861","https://openalex.org/W3130560906","https://openalex.org/W3131890988","https://openalex.org/W3132284905","https://openalex.org/W4280490670","https://openalex.org/W6638039622"],"related_works":["https://openalex.org/W2348542094","https://openalex.org/W2097842859","https://openalex.org/W2964887166","https://openalex.org/W2072356891","https://openalex.org/W2081270133","https://openalex.org/W2165157405","https://openalex.org/W2773932882","https://openalex.org/W2954308722","https://openalex.org/W2024335852","https://openalex.org/W2089165520"],"abstract_inverted_index":{"Retrieving":[0],"the":[1,17,36,48,71,105,119,136,143,152,157,163,192,209],"missing":[2],"dimension":[3],"information":[4,29,55,106,159],"in":[5,16,166,200],"acoustic":[6,167],"images":[7],"from":[8,30,56,107,151],"2D":[9],"forward-looking":[10],"sonar":[11],"is":[12,115],"a":[13,31,57,77,92,131,201],"well-known":[14],"problem":[15,165],"field":[18],"of":[19,66,80,135,139,211],"underwater":[20,187],"robotics.":[21],"There":[22],"are":[23],"works":[24],"attempting":[25],"to":[26,38,47,82,98,117,155,184,215],"retrieve":[27],"3D":[28,40,54,100,158],"single":[32,58],"image":[33,50,59],"which":[34,160],"allows":[35],"robot":[37],"generate":[39,83,118],"maps":[41],"with":[42,174,196],"fly-through":[43],"motion.":[44],"However,":[45],"owing":[46],"unique":[49],"formulation":[51],"principle,":[52],"estimating":[53],"faces":[60],"severe":[61],"ambiguity":[62,72],"problems.":[63],"Classical":[64],"methods":[65],"multi-view":[67,95],"stereo":[68,96],"can":[69,127,161,171],"avoid":[70,162],"problems,":[73],"but":[74],"may":[75],"require":[76],"large":[78,202],"number":[79],"viewpoints":[81],"an":[84,110],"accurate":[85,197],"model.":[86],"In":[87],"this":[88],"work,":[89],"we":[90,146],"propose":[91],"novel":[93],"learning-based":[94],"method":[97,114],"estimate":[99],"information.":[101],"To":[102],"better":[103],"utilize":[104],"multiple":[108],"frames,":[109],"elevation":[111,144],"plane":[112],"sweeping":[113],"proposed":[116],"depth-azimuth-elevation":[120],"cost":[121,153],"volume.":[122],"The":[123],"volume":[124,154],"after":[125],"regularization":[126],"be":[128,172],"considered":[129],"as":[130],"probabilistic":[132],"volumetric":[133],"representation":[134],"target.":[137],"Instead":[138],"performing":[140],"regression":[141],"on":[142],"angles,":[145],"use":[147],"pseudo":[148],"front":[149],"depth":[150],"represent":[156],"2D-3D":[164],"imaging.":[168],"High-accuracy":[169],"results":[170,207],"generated":[173,183],"only":[175],"two":[176],"or":[177],"three":[178],"images.":[179],"Synthetic":[180],"datasets":[181],"were":[182],"simulate":[185],"various":[186],"targets.":[188],"We":[189],"also":[190],"built":[191],"first":[193],"real":[194],"dataset":[195],"ground":[198],"truth":[199],"scale":[203],"water":[204],"tank.":[205],"Experimental":[206],"demonstrate":[208],"superiority":[210],"our":[212],"method,":[213],"compared":[214],"other":[216],"state-of-the-art":[217],"methods.":[218]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":10},{"year":2024,"cited_by_count":5},{"year":2023,"cited_by_count":5}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}
