{"id":"https://openalex.org/W4389665656","doi":"https://doi.org/10.1109/iros55552.2023.10341867","title":"Vision-Based Autonomous Navigation for Unmanned Surface Vessel in Extreme Marine Conditions","display_name":"Vision-Based Autonomous Navigation for Unmanned Surface Vessel in Extreme Marine Conditions","publication_year":2023,"publication_date":"2023-10-01","ids":{"openalex":"https://openalex.org/W4389665656","doi":"https://doi.org/10.1109/iros55552.2023.10341867"},"language":"en","primary_location":{"id":"doi:10.1109/iros55552.2023.10341867","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros55552.2023.10341867","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 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/A5101234808","display_name":"Muhayyuddin Ahmed","orcid":null},"institutions":[{"id":"https://openalex.org/I176601375","display_name":"Khalifa University of Science and Technology","ror":"https://ror.org/05hffr360","country_code":"AE","type":"education","lineage":["https://openalex.org/I176601375"]}],"countries":["AE"],"is_corresponding":true,"raw_author_name":"Muhayyuddin Ahmed","raw_affiliation_strings":["Khalifa University Center for Autonomous Robotic Systems (KU-CARS), Khalifa University,United Arab Emirates","Khalifa University Center for Autonomous Robotic Systems (KU-CARS), Khalifa University, United Arab Emirates"],"affiliations":[{"raw_affiliation_string":"Khalifa University Center for Autonomous Robotic Systems (KU-CARS), Khalifa University,United Arab Emirates","institution_ids":["https://openalex.org/I176601375"]},{"raw_affiliation_string":"Khalifa University Center for Autonomous Robotic Systems (KU-CARS), Khalifa University, United Arab Emirates","institution_ids":["https://openalex.org/I176601375"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5035672070","display_name":"Ahsan Baidar Bakht","orcid":"https://orcid.org/0000-0002-9079-0960"},"institutions":[{"id":"https://openalex.org/I176601375","display_name":"Khalifa University of Science and Technology","ror":"https://ror.org/05hffr360","country_code":"AE","type":"education","lineage":["https://openalex.org/I176601375"]}],"countries":["AE"],"is_corresponding":false,"raw_author_name":"Ahsan Baidar Bakht","raw_affiliation_strings":["Khalifa University Center for Autonomous Robotic Systems (KU-CARS), Khalifa University,United Arab Emirates","Khalifa University Center for Autonomous Robotic Systems (KU-CARS), Khalifa University, United Arab Emirates"],"affiliations":[{"raw_affiliation_string":"Khalifa University Center for Autonomous Robotic Systems (KU-CARS), Khalifa University,United Arab Emirates","institution_ids":["https://openalex.org/I176601375"]},{"raw_affiliation_string":"Khalifa University Center for Autonomous Robotic Systems (KU-CARS), Khalifa University, United Arab Emirates","institution_ids":["https://openalex.org/I176601375"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5011636952","display_name":"Taimur Hassan","orcid":"https://orcid.org/0000-0002-5896-8677"},"institutions":[{"id":"https://openalex.org/I117222138","display_name":"Abu Dhabi University","ror":"https://ror.org/01r3kjq03","country_code":"AE","type":"education","lineage":["https://openalex.org/I117222138"]},{"id":"https://openalex.org/I176601375","display_name":"Khalifa University of Science and Technology","ror":"https://ror.org/05hffr360","country_code":"AE","type":"education","lineage":["https://openalex.org/I176601375"]}],"countries":["AE"],"is_corresponding":false,"raw_author_name":"Taimur Hassan","raw_affiliation_strings":["Khalifa University Center for Autonomous Robotic Systems (KU-CARS), Khalifa University,United Arab Emirates","Khalifa University Center for Autonomous Robotic Systems (KU-CARS), Khalifa University, United Arab Emirates","Department of Electrical, Computer and Biomedical Engineering, Abu Dhabi University, UAE"],"affiliations":[{"raw_affiliation_string":"Khalifa University Center for Autonomous Robotic Systems (KU-CARS), Khalifa University,United Arab Emirates","institution_ids":["https://openalex.org/I176601375"]},{"raw_affiliation_string":"Khalifa University Center for Autonomous Robotic Systems (KU-CARS), Khalifa University, United Arab Emirates","institution_ids":["https://openalex.org/I176601375"]},{"raw_affiliation_string":"Department of Electrical, Computer and Biomedical Engineering, Abu Dhabi University, UAE","institution_ids":["https://openalex.org/I117222138"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5009589766","display_name":"Waseem Akram","orcid":"https://orcid.org/0000-0002-7401-5120"},"institutions":[{"id":"https://openalex.org/I176601375","display_name":"Khalifa University of Science and Technology","ror":"https://ror.org/05hffr360","country_code":"AE","type":"education","lineage":["https://openalex.org/I176601375"]}],"countries":["AE"],"is_corresponding":false,"raw_author_name":"Waseem Akram","raw_affiliation_strings":["Khalifa University Center for Autonomous Robotic Systems (KU-CARS), Khalifa University,United Arab Emirates","Khalifa University Center for Autonomous Robotic Systems (KU-CARS), Khalifa University, United Arab Emirates"],"affiliations":[{"raw_affiliation_string":"Khalifa University Center for Autonomous Robotic Systems (KU-CARS), Khalifa University,United Arab Emirates","institution_ids":["https://openalex.org/I176601375"]},{"raw_affiliation_string":"Khalifa University Center for Autonomous Robotic Systems (KU-CARS), Khalifa University, United Arab Emirates","institution_ids":["https://openalex.org/I176601375"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5092653270","display_name":"Ahmed Humais","orcid":null},"institutions":[{"id":"https://openalex.org/I176601375","display_name":"Khalifa University of Science and Technology","ror":"https://ror.org/05hffr360","country_code":"AE","type":"education","lineage":["https://openalex.org/I176601375"]}],"countries":["AE"],"is_corresponding":false,"raw_author_name":"Ahmed Humais","raw_affiliation_strings":["Khalifa University Center for Autonomous Robotic Systems (KU-CARS), Khalifa University,United Arab Emirates","Khalifa University Center for Autonomous Robotic Systems (KU-CARS), Khalifa University, United Arab Emirates"],"affiliations":[{"raw_affiliation_string":"Khalifa University Center for Autonomous Robotic Systems (KU-CARS), Khalifa University,United Arab Emirates","institution_ids":["https://openalex.org/I176601375"]},{"raw_affiliation_string":"Khalifa University Center for Autonomous Robotic Systems (KU-CARS), Khalifa University, United Arab Emirates","institution_ids":["https://openalex.org/I176601375"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5074862138","display_name":"Lakmal Seneviratne","orcid":"https://orcid.org/0000-0001-6405-8402"},"institutions":[{"id":"https://openalex.org/I176601375","display_name":"Khalifa University of Science and Technology","ror":"https://ror.org/05hffr360","country_code":"AE","type":"education","lineage":["https://openalex.org/I176601375"]}],"countries":["AE"],"is_corresponding":false,"raw_author_name":"Lakmal Seneviratne","raw_affiliation_strings":["Khalifa University Center for Autonomous Robotic Systems (KU-CARS), Khalifa University,United Arab Emirates","Khalifa University Center for Autonomous Robotic Systems (KU-CARS), Khalifa University, United Arab Emirates"],"affiliations":[{"raw_affiliation_string":"Khalifa University Center for Autonomous Robotic Systems (KU-CARS), Khalifa University,United Arab Emirates","institution_ids":["https://openalex.org/I176601375"]},{"raw_affiliation_string":"Khalifa University Center for Autonomous Robotic Systems (KU-CARS), Khalifa University, United Arab Emirates","institution_ids":["https://openalex.org/I176601375"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100717587","display_name":"Shaoming He","orcid":"https://orcid.org/0000-0001-6432-5187"},"institutions":[{"id":"https://openalex.org/I125839683","display_name":"Beijing Institute of Technology","ror":"https://ror.org/01skt4w74","country_code":"CN","type":"education","lineage":["https://openalex.org/I125839683","https://openalex.org/I890469752"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Shaoming He","raw_affiliation_strings":["Beijing Institute of Technology,China","Beijing Institute of Technology, China"],"affiliations":[{"raw_affiliation_string":"Beijing Institute of Technology,China","institution_ids":["https://openalex.org/I125839683"]},{"raw_affiliation_string":"Beijing Institute of Technology, China","institution_ids":["https://openalex.org/I125839683"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100702465","display_name":"Defu Lin","orcid":"https://orcid.org/0000-0002-9837-9543"},"institutions":[{"id":"https://openalex.org/I125839683","display_name":"Beijing Institute of Technology","ror":"https://ror.org/01skt4w74","country_code":"CN","type":"education","lineage":["https://openalex.org/I125839683","https://openalex.org/I890469752"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Defu Lin","raw_affiliation_strings":["Beijing Institute of Technology,China","Beijing Institute of Technology, China"],"affiliations":[{"raw_affiliation_string":"Beijing Institute of Technology,China","institution_ids":["https://openalex.org/I125839683"]},{"raw_affiliation_string":"Beijing Institute of Technology, China","institution_ids":["https://openalex.org/I125839683"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5023802518","display_name":"Irfan Hussain","orcid":"https://orcid.org/0000-0003-2759-0306"},"institutions":[{"id":"https://openalex.org/I176601375","display_name":"Khalifa University of Science and Technology","ror":"https://ror.org/05hffr360","country_code":"AE","type":"education","lineage":["https://openalex.org/I176601375"]}],"countries":["AE"],"is_corresponding":false,"raw_author_name":"Irfan Hussain","raw_affiliation_strings":["Khalifa University Center for Autonomous Robotic Systems (KU-CARS), Khalifa University,United Arab Emirates","Khalifa University Center for Autonomous Robotic Systems (KU-CARS), Khalifa University, United Arab Emirates"],"affiliations":[{"raw_affiliation_string":"Khalifa University Center for Autonomous Robotic Systems (KU-CARS), Khalifa University,United Arab Emirates","institution_ids":["https://openalex.org/I176601375"]},{"raw_affiliation_string":"Khalifa University Center for Autonomous Robotic Systems (KU-CARS), Khalifa University, United Arab Emirates","institution_ids":["https://openalex.org/I176601375"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":9,"corresponding_author_ids":["https://openalex.org/A5101234808"],"corresponding_institution_ids":["https://openalex.org/I176601375"],"apc_list":null,"apc_paid":null,"fwci":1.8498,"has_fulltext":false,"cited_by_count":15,"citation_normalized_percentile":{"value":0.87970397,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"7097","last_page":"7103"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10036","display_name":"Advanced Neural Network Applications","score":0.9926000237464905,"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/T10036","display_name":"Advanced Neural Network Applications","score":0.9926000237464905,"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/T12316","display_name":"Oil Spill Detection and Mitigation","score":0.9914000034332275,"subfield":{"id":"https://openalex.org/subfields/2310","display_name":"Pollution"},"field":{"id":"https://openalex.org/fields/23","display_name":"Environmental Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T12389","display_name":"Infrared Target Detection Methodologies","score":0.9807999730110168,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/visibility","display_name":"Visibility","score":0.8066417574882507},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7580828666687012},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.6664518117904663},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.6514711380004883},{"id":"https://openalex.org/keywords/pipeline","display_name":"Pipeline (software)","score":0.6086751222610474},{"id":"https://openalex.org/keywords/object-detection","display_name":"Object detection","score":0.5496000051498413},{"id":"https://openalex.org/keywords/component","display_name":"Component (thermodynamics)","score":0.5441497564315796},{"id":"https://openalex.org/keywords/tracking","display_name":"Tracking (education)","score":0.4509137272834778},{"id":"https://openalex.org/keywords/perception","display_name":"Perception","score":0.4403383731842041},{"id":"https://openalex.org/keywords/noise","display_name":"Noise (video)","score":0.43441301584243774},{"id":"https://openalex.org/keywords/image","display_name":"Image (mathematics)","score":0.21995797753334045},{"id":"https://openalex.org/keywords/pattern-recognition","display_name":"Pattern recognition (psychology)","score":0.10628348588943481}],"concepts":[{"id":"https://openalex.org/C123403432","wikidata":"https://www.wikidata.org/wiki/Q654068","display_name":"Visibility","level":2,"score":0.8066417574882507},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7580828666687012},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.6664518117904663},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6514711380004883},{"id":"https://openalex.org/C43521106","wikidata":"https://www.wikidata.org/wiki/Q2165493","display_name":"Pipeline (software)","level":2,"score":0.6086751222610474},{"id":"https://openalex.org/C2776151529","wikidata":"https://www.wikidata.org/wiki/Q3045304","display_name":"Object detection","level":3,"score":0.5496000051498413},{"id":"https://openalex.org/C168167062","wikidata":"https://www.wikidata.org/wiki/Q1117970","display_name":"Component (thermodynamics)","level":2,"score":0.5441497564315796},{"id":"https://openalex.org/C2775936607","wikidata":"https://www.wikidata.org/wiki/Q466845","display_name":"Tracking (education)","level":2,"score":0.4509137272834778},{"id":"https://openalex.org/C26760741","wikidata":"https://www.wikidata.org/wiki/Q160402","display_name":"Perception","level":2,"score":0.4403383731842041},{"id":"https://openalex.org/C99498987","wikidata":"https://www.wikidata.org/wiki/Q2210247","display_name":"Noise (video)","level":3,"score":0.43441301584243774},{"id":"https://openalex.org/C115961682","wikidata":"https://www.wikidata.org/wiki/Q860623","display_name":"Image (mathematics)","level":2,"score":0.21995797753334045},{"id":"https://openalex.org/C153180895","wikidata":"https://www.wikidata.org/wiki/Q7148389","display_name":"Pattern recognition (psychology)","level":2,"score":0.10628348588943481},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"score":0.0},{"id":"https://openalex.org/C120665830","wikidata":"https://www.wikidata.org/wiki/Q14620","display_name":"Optics","level":1,"score":0.0},{"id":"https://openalex.org/C97355855","wikidata":"https://www.wikidata.org/wiki/Q11473","display_name":"Thermodynamics","level":1,"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/C19417346","wikidata":"https://www.wikidata.org/wiki/Q7922","display_name":"Pedagogy","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/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/iros55552.2023.10341867","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros55552.2023.10341867","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 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","id":"https://metadata.un.org/sdg/14","score":0.6100000143051147}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":32,"referenced_works":["https://openalex.org/W1686810756","https://openalex.org/W1986014385","https://openalex.org/W2102605133","https://openalex.org/W2193145675","https://openalex.org/W2194775991","https://openalex.org/W2559655401","https://openalex.org/W2565639579","https://openalex.org/W2773913256","https://openalex.org/W2963037989","https://openalex.org/W2963150697","https://openalex.org/W2963446712","https://openalex.org/W2963857746","https://openalex.org/W2964241181","https://openalex.org/W2998249728","https://openalex.org/W3034971973","https://openalex.org/W3035294798","https://openalex.org/W3042011474","https://openalex.org/W3092462694","https://openalex.org/W3106250896","https://openalex.org/W3107316803","https://openalex.org/W3154147430","https://openalex.org/W3185959344","https://openalex.org/W3209546070","https://openalex.org/W4225007739","https://openalex.org/W4226435525","https://openalex.org/W4297775537","https://openalex.org/W4312644417","https://openalex.org/W4327808545","https://openalex.org/W6620707391","https://openalex.org/W6637373629","https://openalex.org/W6737664043","https://openalex.org/W6784094891"],"related_works":["https://openalex.org/W2392812199","https://openalex.org/W4200176076","https://openalex.org/W598185802","https://openalex.org/W2355516524","https://openalex.org/W2361471170","https://openalex.org/W2025616642","https://openalex.org/W1954972543","https://openalex.org/W2954738200","https://openalex.org/W4220843223","https://openalex.org/W4226107239"],"abstract_inverted_index":{"Visual":[0],"perception":[1,81],"is":[2],"an":[3,61,79],"important":[4],"component":[5],"for":[6,15,34,48,66],"autonomous":[7,20,62],"navigation":[8,28,64],"of":[9,78],"unmanned":[10],"surface":[11],"vessels":[12],"(USV),":[13],"particularly":[14],"the":[16,32,95,102,115,119,148,155,160],"tasks":[17,25],"related":[18],"to":[19,30,51,90,101,117,135],"inspection":[21],"and":[22,93,137],"tracking.":[23],"These":[24],"involve":[26],"vision-based":[27,49,63],"techniques":[29],"identify":[31],"target":[33,68],"navigation.":[35],"Reduced":[36],"visibility":[37,133],"under":[38,130],"extreme":[39,71],"weather":[40],"conditions":[41],"in":[42,70,128],"marine":[43,72],"environments":[44],"makes":[45],"it":[46],"difficult":[47],"approaches":[50],"work":[52],"properly.":[53],"To":[54],"overcome":[55],"these":[56],"issues,":[57],"this":[58],"paper":[59],"presents":[60],"framework":[65,76,123],"tracking":[67],"objects":[69],"conditions.":[73],"The":[74,107,121,139],"proposed":[75,122,156],"consists":[77],"integrated":[80],"pipeline":[82],"that":[83],"uses":[84],"a":[85],"generative":[86],"adversarial":[87],"network":[88],"(GAN)":[89],"remove":[91],"noise":[92],"highlight":[94],"object":[96,103],"features":[97,110],"before":[98],"passing":[99],"them":[100],"detector":[104],"(i.e.,":[105],"YOLOv5).":[106],"detected":[108],"visual":[109],"are":[111,141],"then":[112],"used":[113],"by":[114],"USV":[116],"track":[118],"target.":[120],"has":[124,158],"been":[125],"thoroughly":[126],"tested":[127],"simulation":[129,151],"extremely":[131],"reduced":[132],"due":[134],"sandstorms":[136],"fog.":[138],"results":[140],"compared":[142],"with":[143],"state-of-the-art":[144],"de-hazing":[145],"methods":[146,162],"across":[147,163],"benchmarked":[149],"MBZIRC":[150],"dataset,":[152],"on":[153],"which":[154],"scheme":[157],"outperformed":[159],"existing":[161],"various":[164],"metrics.":[165]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":8},{"year":2024,"cited_by_count":5},{"year":2023,"cited_by_count":1}],"updated_date":"2026-03-07T16:01:11.037858","created_date":"2025-10-10T00:00:00"}
