{"id":"https://openalex.org/W4405785090","doi":"https://doi.org/10.1109/iros58592.2024.10802819","title":"Opti-Acoustic Semantic SLAM with Unknown Objects in Underwater Environments","display_name":"Opti-Acoustic Semantic SLAM with Unknown Objects in Underwater Environments","publication_year":2024,"publication_date":"2024-10-14","ids":{"openalex":"https://openalex.org/W4405785090","doi":"https://doi.org/10.1109/iros58592.2024.10802819"},"language":"en","primary_location":{"id":"doi:10.1109/iros58592.2024.10802819","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros58592.2024.10802819","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 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/A5057765680","display_name":"Kurran Singh","orcid":"https://orcid.org/0000-0002-8097-7940"},"institutions":[{"id":"https://openalex.org/I63966007","display_name":"Massachusetts Institute of Technology","ror":"https://ror.org/042nb2s44","country_code":"US","type":"education","lineage":["https://openalex.org/I63966007"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Kurran Singh","raw_affiliation_strings":["Massachusetts Institute of Technology (MIT),Computer Science and Artificial Intelligence Laboratory (CSAIL),Cambridge,MA,USA,02139"],"affiliations":[{"raw_affiliation_string":"Massachusetts Institute of Technology (MIT),Computer Science and Artificial Intelligence Laboratory (CSAIL),Cambridge,MA,USA,02139","institution_ids":["https://openalex.org/I63966007"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5110745295","display_name":"Jungseok Hong","orcid":null},"institutions":[{"id":"https://openalex.org/I63966007","display_name":"Massachusetts Institute of Technology","ror":"https://ror.org/042nb2s44","country_code":"US","type":"education","lineage":["https://openalex.org/I63966007"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Jungseok Hong","raw_affiliation_strings":["Massachusetts Institute of Technology (MIT),Computer Science and Artificial Intelligence Laboratory (CSAIL),Cambridge,MA,USA,02139"],"affiliations":[{"raw_affiliation_string":"Massachusetts Institute of Technology (MIT),Computer Science and Artificial Intelligence Laboratory (CSAIL),Cambridge,MA,USA,02139","institution_ids":["https://openalex.org/I63966007"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5029743598","display_name":"Nicholas R. Rypkema","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":"Nicholas R. Rypkema","raw_affiliation_strings":["Woods Hole Oceanographic Institute (WHOI),Applied Ocean Physics and Engineering Department,Woods Hole,MA,USA,02543"],"affiliations":[{"raw_affiliation_string":"Woods Hole Oceanographic Institute (WHOI),Applied Ocean Physics and Engineering Department,Woods Hole,MA,USA,02543","institution_ids":["https://openalex.org/I66958751"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5110293164","display_name":"John J. Leonard","orcid":null},"institutions":[{"id":"https://openalex.org/I63966007","display_name":"Massachusetts Institute of Technology","ror":"https://ror.org/042nb2s44","country_code":"US","type":"education","lineage":["https://openalex.org/I63966007"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"John J. Leonard","raw_affiliation_strings":["Massachusetts Institute of Technology (MIT),Computer Science and Artificial Intelligence Laboratory (CSAIL),Cambridge,MA,USA,02139"],"affiliations":[{"raw_affiliation_string":"Massachusetts Institute of Technology (MIT),Computer Science and Artificial Intelligence Laboratory (CSAIL),Cambridge,MA,USA,02139","institution_ids":["https://openalex.org/I63966007"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5057765680"],"corresponding_institution_ids":["https://openalex.org/I63966007"],"apc_list":null,"apc_paid":null,"fwci":2.6675,"has_fulltext":false,"cited_by_count":8,"citation_normalized_percentile":{"value":0.89629389,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":98,"max":100},"biblio":{"volume":null,"issue":null,"first_page":"1169","last_page":"1176"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11192","display_name":"Underwater Vehicles and Communication Systems","score":0.9994999766349792,"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"}},"topics":[{"id":"https://openalex.org/T11192","display_name":"Underwater Vehicles and Communication Systems","score":0.9994999766349792,"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/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9886000156402588,"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/T11698","display_name":"Underwater Acoustics Research","score":0.9836000204086304,"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/computer-science","display_name":"Computer science","score":0.7181583642959595},{"id":"https://openalex.org/keywords/underwater","display_name":"Underwater","score":0.6122140884399414},{"id":"https://openalex.org/keywords/simultaneous-localization-and-mapping","display_name":"Simultaneous localization and mapping","score":0.5950775742530823},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.4792509078979492},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.37346673011779785},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.24530476331710815},{"id":"https://openalex.org/keywords/geology","display_name":"Geology","score":0.18427887558937073},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.17247381806373596}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7181583642959595},{"id":"https://openalex.org/C98083399","wikidata":"https://www.wikidata.org/wiki/Q3246517","display_name":"Underwater","level":2,"score":0.6122140884399414},{"id":"https://openalex.org/C86369673","wikidata":"https://www.wikidata.org/wiki/Q1203659","display_name":"Simultaneous localization and mapping","level":4,"score":0.5950775742530823},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4792509078979492},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.37346673011779785},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.24530476331710815},{"id":"https://openalex.org/C127313418","wikidata":"https://www.wikidata.org/wiki/Q1069","display_name":"Geology","level":0,"score":0.18427887558937073},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.17247381806373596},{"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/iros58592.2024.10802819","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros58592.2024.10802819","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.75,"id":"https://metadata.un.org/sdg/14","display_name":"Life below water"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":50,"referenced_works":["https://openalex.org/W1968315983","https://openalex.org/W2020950478","https://openalex.org/W2106507358","https://openalex.org/W2115126368","https://openalex.org/W2126350975","https://openalex.org/W2162731263","https://openalex.org/W2563458259","https://openalex.org/W2563692802","https://openalex.org/W2565322110","https://openalex.org/W2567069552","https://openalex.org/W2739423245","https://openalex.org/W2766395563","https://openalex.org/W2772640858","https://openalex.org/W2894114860","https://openalex.org/W2897816641","https://openalex.org/W2969076806","https://openalex.org/W2974494712","https://openalex.org/W2985912973","https://openalex.org/W3001541901","https://openalex.org/W3003991701","https://openalex.org/W3013100844","https://openalex.org/W3023371261","https://openalex.org/W3043971245","https://openalex.org/W3091717112","https://openalex.org/W3094502228","https://openalex.org/W3130560906","https://openalex.org/W3131890988","https://openalex.org/W3155124756","https://openalex.org/W3159481202","https://openalex.org/W3205612855","https://openalex.org/W3205762013","https://openalex.org/W3206634400","https://openalex.org/W3207578480","https://openalex.org/W4226236972","https://openalex.org/W4285083380","https://openalex.org/W4312360228","https://openalex.org/W4319083764","https://openalex.org/W4323527657","https://openalex.org/W4385245566","https://openalex.org/W4386113253","https://openalex.org/W4387880466","https://openalex.org/W4390874575","https://openalex.org/W4402353983","https://openalex.org/W4402769208","https://openalex.org/W4404722477","https://openalex.org/W6741319538","https://openalex.org/W6748816842","https://openalex.org/W6791353385","https://openalex.org/W6853702739","https://openalex.org/W6861232000"],"related_works":["https://openalex.org/W2772917594","https://openalex.org/W2036807459","https://openalex.org/W2058170566","https://openalex.org/W2755342338","https://openalex.org/W2166024367","https://openalex.org/W3116076068","https://openalex.org/W2229312674","https://openalex.org/W2951359407","https://openalex.org/W2079911747","https://openalex.org/W1969923398"],"abstract_inverted_index":{"Despite":[0],"recent":[1],"advances":[2],"in":[3,71,178],"semantic":[4,16,43],"Simultaneous":[5],"Localization":[6],"and":[7,12,21,32,54,80,84,113,118,128,131,138,143,158],"Mapping":[8],"(SLAM)":[9],"for":[10,46,90,136],"terrestrial":[11],"aerial":[13],"applications,":[14],"underwater":[15,47,120],"SLAM":[17,44],"remains":[18],"an":[19,41],"open":[20],"largely":[22],"unaddressed":[23],"research":[24],"problem":[25],"due":[26],"to":[27,98,101,155,161,166],"the":[28,33,67,72,107,147,179],"unique":[29],"sensing":[30],"modalities":[31],"object":[34,68,78,91],"classes":[35,69],"found":[36],"underwater.":[37],"This":[38],"paper":[39],"presents":[40],"object-based":[42],"method":[45,75,108,149,170],"environments":[48],"that":[49,171],"can":[50],"identify,":[51],"localize,":[52],"classify,":[53],"map":[55,164],"a":[56,63,123,167],"wide":[57,124],"variety":[58,125],"of":[59,66,126,175],"marine":[60],"objects":[61,127,177],"without":[62],"priori":[64],"knowledge":[65],"present":[70],"scene.":[73,180],"The":[74],"performs":[76],"unsupervised":[77],"segmentation":[79],"object-level":[81],"feature":[82],"aggregation,":[83],"then":[85,109],"uses":[86],"opti-acoustic":[87],"sensor":[88],"fusion":[89],"localization.":[92],"Probabilistic":[93],"data":[94,174],"association":[95],"is":[96,159],"used":[97],"determine":[99],"observation":[100],"landmark":[102,112],"correspondences.":[103],"Given":[104],"such":[105],"correspondences,":[106],"jointly":[110],"optimizes":[111],"vehicle":[114],"position":[115],"estimates.":[116],"Indoor":[117],"outdoor":[119],"datasets":[121],"with":[122],"challenging":[129],"acoustic":[130],"lighting":[132],"conditions":[133],"are":[134],"collected":[135],"evaluation":[137],"made":[139],"publicly":[140],"available.":[141],"Quantitative":[142],"qualitative":[144],"results":[145],"show":[146],"proposed":[148],"achieves":[150],"reduced":[151],"trajectory":[152],"error":[153],"compared":[154],"baseline":[156,168],"methods,":[157],"able":[160],"obtain":[162],"comparable":[163],"accuracy":[165],"closed-set":[169],"requires":[172],"hand-labeled":[173],"all":[176]},"counts_by_year":[{"year":2026,"cited_by_count":3},{"year":2025,"cited_by_count":5}],"updated_date":"2026-04-02T15:55:50.835912","created_date":"2025-10-10T00:00:00"}