{"id":"https://openalex.org/W4416748487","doi":"https://doi.org/10.1109/iros60139.2025.11246059","title":"Application of soft constraints on mirror position to improve robustness of optical target positioning in shallow water","display_name":"Application of soft constraints on mirror position to improve robustness of optical target positioning in shallow water","publication_year":2025,"publication_date":"2025-10-19","ids":{"openalex":"https://openalex.org/W4416748487","doi":"https://doi.org/10.1109/iros60139.2025.11246059"},"language":null,"primary_location":{"id":"doi:10.1109/iros60139.2025.11246059","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros60139.2025.11246059","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 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/A5104683627","display_name":"Xiangjie Zhang","orcid":"https://orcid.org/0009-0001-8338-514X"},"institutions":[{"id":"https://openalex.org/I21193070","display_name":"Beijing Jiaotong University","ror":"https://ror.org/01yj56c84","country_code":"CN","type":"education","lineage":["https://openalex.org/I21193070"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Xiangjie Zhang","raw_affiliation_strings":["Beijing Jiaotong University,School of Automation and Intelligence"],"affiliations":[{"raw_affiliation_string":"Beijing Jiaotong University,School of Automation and Intelligence","institution_ids":["https://openalex.org/I21193070"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5003369387","display_name":"Taogang Hou","orcid":"https://orcid.org/0000-0002-6992-5269"},"institutions":[{"id":"https://openalex.org/I21193070","display_name":"Beijing Jiaotong University","ror":"https://ror.org/01yj56c84","country_code":"CN","type":"education","lineage":["https://openalex.org/I21193070"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Taogang Hou","raw_affiliation_strings":["Beijing Jiaotong University,School of Automation and Intelligence"],"affiliations":[{"raw_affiliation_string":"Beijing Jiaotong University,School of Automation and Intelligence","institution_ids":["https://openalex.org/I21193070"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5076687329","display_name":"Hongde Qin","orcid":"https://orcid.org/0000-0002-9794-4491"},"institutions":[{"id":"https://openalex.org/I108688024","display_name":"Qingdao University","ror":"https://ror.org/021cj6z65","country_code":"CN","type":"education","lineage":["https://openalex.org/I108688024"]},{"id":"https://openalex.org/I4210161003","display_name":"Qingdao Center of Resource Chemistry and New Materials","ror":"https://ror.org/05x85k702","country_code":"CN","type":"facility","lineage":["https://openalex.org/I19820366","https://openalex.org/I4210089297","https://openalex.org/I4210161003"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Hongde Qin","raw_affiliation_strings":["Harbin Engineering University,Qingdao Innovation and Development Base,Qingdao,266500"],"affiliations":[{"raw_affiliation_string":"Harbin Engineering University,Qingdao Innovation and Development Base,Qingdao,266500","institution_ids":["https://openalex.org/I4210161003","https://openalex.org/I108688024"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5102801313","display_name":"Haojie Li","orcid":"https://orcid.org/0009-0009-1096-4827"},"institutions":[{"id":"https://openalex.org/I21193070","display_name":"Beijing Jiaotong University","ror":"https://ror.org/01yj56c84","country_code":"CN","type":"education","lineage":["https://openalex.org/I21193070"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Haojie Li","raw_affiliation_strings":["Beijing Jiaotong University,School of Automation and Intelligence"],"affiliations":[{"raw_affiliation_string":"Beijing Jiaotong University,School of Automation and Intelligence","institution_ids":["https://openalex.org/I21193070"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5025956972","display_name":"Xiangxing Wang","orcid":null},"institutions":[{"id":"https://openalex.org/I21193070","display_name":"Beijing Jiaotong University","ror":"https://ror.org/01yj56c84","country_code":"CN","type":"education","lineage":["https://openalex.org/I21193070"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xiangxing Wang","raw_affiliation_strings":["Beijing Jiaotong University,School of Automation and Intelligence"],"affiliations":[{"raw_affiliation_string":"Beijing Jiaotong University,School of Automation and Intelligence","institution_ids":["https://openalex.org/I21193070"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100663938","display_name":"Hao Wang","orcid":"https://orcid.org/0000-0003-0090-2840"},"institutions":[{"id":"https://openalex.org/I21193070","display_name":"Beijing Jiaotong University","ror":"https://ror.org/01yj56c84","country_code":"CN","type":"education","lineage":["https://openalex.org/I21193070"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Hao Wang","raw_affiliation_strings":["Beijing Jiaotong University,School of Automation and Intelligence"],"affiliations":[{"raw_affiliation_string":"Beijing Jiaotong University,School of Automation and Intelligence","institution_ids":["https://openalex.org/I21193070"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5050482594","display_name":"Yong Cao","orcid":"https://orcid.org/0000-0003-4555-072X"},"institutions":[{"id":"https://openalex.org/I17145004","display_name":"Northwestern Polytechnical University","ror":"https://ror.org/01y0j0j86","country_code":"CN","type":"education","lineage":["https://openalex.org/I17145004"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yong Cao","raw_affiliation_strings":["Ningbo Institute of Northwestern Polytechnical University"],"affiliations":[{"raw_affiliation_string":"Ningbo Institute of Northwestern Polytechnical University","institution_ids":["https://openalex.org/I17145004"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":7,"corresponding_author_ids":["https://openalex.org/A5104683627"],"corresponding_institution_ids":["https://openalex.org/I21193070"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.44869521,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"5284","last_page":"5290"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11192","display_name":"Underwater Vehicles and Communication Systems","score":0.7566999793052673,"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":0.7566999793052673,"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":0.06340000033378601,"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/T10851","display_name":"Optical Wireless Communication Technologies","score":0.06030000001192093,"subfield":{"id":"https://openalex.org/subfields/2208","display_name":"Electrical and Electronic 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/robustness","display_name":"Robustness (evolution)","score":0.7669000029563904},{"id":"https://openalex.org/keywords/underwater","display_name":"Underwater","score":0.713100016117096},{"id":"https://openalex.org/keywords/salient","display_name":"Salient","score":0.4966000020503998},{"id":"https://openalex.org/keywords/usable","display_name":"USable","score":0.47839999198913574},{"id":"https://openalex.org/keywords/position","display_name":"Position (finance)","score":0.4562999904155731},{"id":"https://openalex.org/keywords/machine-vision","display_name":"Machine vision","score":0.3434000015258789},{"id":"https://openalex.org/keywords/waves-and-shallow-water","display_name":"Waves and shallow water","score":0.3334999978542328},{"id":"https://openalex.org/keywords/swarm-behaviour","display_name":"Swarm behaviour","score":0.33160001039505005}],"concepts":[{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.7669000029563904},{"id":"https://openalex.org/C98083399","wikidata":"https://www.wikidata.org/wiki/Q3246517","display_name":"Underwater","level":2,"score":0.713100016117096},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.6516000032424927},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6011000275611877},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5651000142097473},{"id":"https://openalex.org/C2780719617","wikidata":"https://www.wikidata.org/wiki/Q1030752","display_name":"Salient","level":2,"score":0.4966000020503998},{"id":"https://openalex.org/C2780615836","wikidata":"https://www.wikidata.org/wiki/Q2471869","display_name":"USable","level":2,"score":0.47839999198913574},{"id":"https://openalex.org/C198082294","wikidata":"https://www.wikidata.org/wiki/Q3399648","display_name":"Position (finance)","level":2,"score":0.4562999904155731},{"id":"https://openalex.org/C5339829","wikidata":"https://www.wikidata.org/wiki/Q1425977","display_name":"Machine vision","level":2,"score":0.3434000015258789},{"id":"https://openalex.org/C186348155","wikidata":"https://www.wikidata.org/wiki/Q7975538","display_name":"Waves and shallow water","level":2,"score":0.3334999978542328},{"id":"https://openalex.org/C181335050","wikidata":"https://www.wikidata.org/wiki/Q14915018","display_name":"Swarm behaviour","level":2,"score":0.33160001039505005},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.32510000467300415},{"id":"https://openalex.org/C150627866","wikidata":"https://www.wikidata.org/wiki/Q1076893","display_name":"Field of view","level":2,"score":0.31439998745918274},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.31349998712539673},{"id":"https://openalex.org/C2778603505","wikidata":"https://www.wikidata.org/wiki/Q17141406","display_name":"Positioning system","level":3,"score":0.3046000003814697},{"id":"https://openalex.org/C205318122","wikidata":"https://www.wikidata.org/wiki/Q72277","display_name":"Refraction","level":2,"score":0.2962000072002411},{"id":"https://openalex.org/C43214815","wikidata":"https://www.wikidata.org/wiki/Q7310987","display_name":"Reliability (semiconductor)","level":3,"score":0.29030001163482666},{"id":"https://openalex.org/C92630104","wikidata":"https://www.wikidata.org/wiki/Q4115103","display_name":"Optical imaging","level":2,"score":0.27970001101493835},{"id":"https://openalex.org/C105331701","wikidata":"https://www.wikidata.org/wiki/Q1268965","display_name":"Dynamic positioning","level":2,"score":0.27880001068115234},{"id":"https://openalex.org/C52102323","wikidata":"https://www.wikidata.org/wiki/Q1671968","display_name":"Pose","level":2,"score":0.2696000039577484},{"id":"https://openalex.org/C2778740559","wikidata":"https://www.wikidata.org/wiki/Q2496586","display_name":"Unmanned underwater vehicle","level":3,"score":0.2689000070095062},{"id":"https://openalex.org/C16345878","wikidata":"https://www.wikidata.org/wiki/Q107472979","display_name":"Orientation (vector space)","level":2,"score":0.2660999894142151},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.25270000100135803}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros60139.2025.11246059","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros60139.2025.11246059","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"},{"id":"https://openalex.org/F4320335787","display_name":"Fundamental Research Funds for the Central Universities","ror":null},{"id":"https://openalex.org/F4320337504","display_name":"Research and Development","ror":"https://ror.org/027s68j25"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":20,"referenced_works":["https://openalex.org/W1747778109","https://openalex.org/W1964339024","https://openalex.org/W2236623899","https://openalex.org/W2798966709","https://openalex.org/W2807785345","https://openalex.org/W2953247561","https://openalex.org/W2962711902","https://openalex.org/W2963598210","https://openalex.org/W2964088115","https://openalex.org/W2967881490","https://openalex.org/W3035304527","https://openalex.org/W3115768999","https://openalex.org/W4200115267","https://openalex.org/W4211198541","https://openalex.org/W4213415561","https://openalex.org/W4241529584","https://openalex.org/W4280504320","https://openalex.org/W4285102646","https://openalex.org/W4390235753","https://openalex.org/W4401415312"],"related_works":[],"abstract_inverted_index":{"The":[0],"unique":[1],"optical":[2,64,179,196],"characteristics":[3],"of":[4,14,53,63,101,107,126],"the":[5,27,39,51,61,71,78,89,99,105,124,142],"underwater":[6,34,198],"environment,":[7],"such":[8],"as":[9],"light":[10],"refraction":[11],"and":[12,76,84,118,129,158,170,191],"loss":[13],"salient":[15],"features,":[16],"pose":[17,79],"a":[18,187],"significant":[19],"challenge":[20],"to":[21,59,138],"traditional":[22],"vision":[23],"sensors,":[24],"especially":[25],"in":[26,67,155,161,174],"swarm":[28,199],"operation":[29],"scenario":[30],"where":[31,178],"multiple":[32],"autonomous":[33],"vehicles":[35],"(AUVs)":[36],"cooperate":[37],"with":[38],"mother":[40],"ship":[41],"for":[42,92,172,195],"positioning.":[43],"To":[44],"address":[45],"these":[46],"challenges,":[47],"this":[48],"study":[49,185],"proposes":[50],"application":[52],"soft":[54],"constraints":[55],"on":[56],"mirror":[57],"position":[58,151],"improve":[60],"robustness":[62],"target":[65],"positioning":[66,113,131,171],"shallow":[68,175],"water.":[69],"During":[70],"mapping":[72,169,189],"phase,":[73],"we":[74],"establish":[75],"optimize":[77],"relationships":[80],"between":[81],"ArUco":[82,102],"markers":[83,103,109,180],"their":[85],"mirrors,":[86],"thereby":[87],"expanding":[88],"locatable":[90],"space":[91],"AUVs":[93,173],"(Autonomous":[94],"Underwater":[95],"Vehicles)":[96],".":[97],"With":[98],"arrangement":[100],"unchanged,":[104],"number":[106],"usable":[108],"doubles.":[110],"Surface":[111],"mirror-assisted":[112],"provides":[114,167,186],"more":[115],"visual":[116],"features":[117],"additional":[119],"computed":[120],"corner":[121],"points,":[122],"enhancing":[123],"reliability":[125],"camera":[127],"observations":[128],"improving":[130],"accuracy.":[132],"Experimental":[133],"results":[134],"demonstrate":[135],"that,":[136],"compared":[137],"classical":[139],"algorithms":[140],"from":[141],"Artificial":[143],"Vision":[144],"Applications":[145],"(A.V.A)":[146],"laboratory,":[147],"our":[148,165],"method":[149,166],"improves":[150],"accuracy":[152],"by":[153,159],"25.8%":[154],"single-marker":[156],"scenarios":[157],"14.7%":[160],"multi-marker":[162],"scenarios.":[163],"Therefore,":[164],"enhanced":[168],"water":[176],"areas":[177],"can":[181],"be":[182],"deployed.":[183],"This":[184],"new":[188],"paradigm":[190],"multi-body":[192],"localization":[193],"solution":[194],"marker-guided":[197],"operations.":[200]},"counts_by_year":[],"updated_date":"2026-04-09T08:11:56.329763","created_date":"2025-11-28T00:00:00"}