{"id":"https://openalex.org/W4416748939","doi":"https://doi.org/10.1109/iros60139.2025.11247445","title":"Image-Based Relocalization and Alignment for Long-Term Monitoring of Dynamic Underwater Environments","display_name":"Image-Based Relocalization and Alignment for Long-Term Monitoring of Dynamic Underwater Environments","publication_year":2025,"publication_date":"2025-10-19","ids":{"openalex":"https://openalex.org/W4416748939","doi":"https://doi.org/10.1109/iros60139.2025.11247445"},"language":null,"primary_location":{"id":"doi:10.1109/iros60139.2025.11247445","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros60139.2025.11247445","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":"conference-paper","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/A5120441660","display_name":"Beverley Gorry","orcid":null},"institutions":[{"id":"https://openalex.org/I160993911","display_name":"Queensland University of Technology","ror":"https://ror.org/03pnv4752","country_code":"AU","type":"education","lineage":["https://openalex.org/I160993911"]}],"countries":["AU"],"is_corresponding":false,"raw_author_name":"Beverley Gorry","raw_affiliation_strings":["Queensland University of Technology,QUT Centre for Robotics, School of Electrical Engineering and Robotics,Brisbane,QLD,Australia,4000"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Queensland University of Technology,QUT Centre for Robotics, School of Electrical Engineering and Robotics,Brisbane,QLD,Australia,4000","institution_ids":["https://openalex.org/I160993911"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5071424922","display_name":"Tobias Fischer","orcid":"https://orcid.org/0000-0003-2183-017X"},"institutions":[{"id":"https://openalex.org/I160993911","display_name":"Queensland University of Technology","ror":"https://ror.org/03pnv4752","country_code":"AU","type":"education","lineage":["https://openalex.org/I160993911"]}],"countries":["AU"],"is_corresponding":false,"raw_author_name":"Tobias Fischer","raw_affiliation_strings":["Queensland University of Technology,QUT Centre for Robotics, School of Electrical Engineering and Robotics,Brisbane,QLD,Australia,4000"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Queensland University of Technology,QUT Centre for Robotics, School of Electrical Engineering and Robotics,Brisbane,QLD,Australia,4000","institution_ids":["https://openalex.org/I160993911"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5078340555","display_name":"Michael Milford","orcid":"https://orcid.org/0000-0002-5162-1793"},"institutions":[{"id":"https://openalex.org/I160993911","display_name":"Queensland University of Technology","ror":"https://ror.org/03pnv4752","country_code":"AU","type":"education","lineage":["https://openalex.org/I160993911"]}],"countries":["AU"],"is_corresponding":false,"raw_author_name":"Michael Milford","raw_affiliation_strings":["Queensland University of Technology,QUT Centre for Robotics, School of Electrical Engineering and Robotics,Brisbane,QLD,Australia,4000"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Queensland University of Technology,QUT Centre for Robotics, School of Electrical Engineering and Robotics,Brisbane,QLD,Australia,4000","institution_ids":["https://openalex.org/I160993911"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5056412871","display_name":"Alejandro Fontan","orcid":"https://orcid.org/0000-0002-5909-8415"},"institutions":[{"id":"https://openalex.org/I160993911","display_name":"Queensland University of Technology","ror":"https://ror.org/03pnv4752","country_code":"AU","type":"education","lineage":["https://openalex.org/I160993911"]}],"countries":["AU"],"is_corresponding":false,"raw_author_name":"Alejandro Fontan","raw_affiliation_strings":["Queensland University of Technology,QUT Centre for Robotics, School of Electrical Engineering and Robotics,Brisbane,QLD,Australia,4000"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Queensland University of Technology,QUT Centre for Robotics, School of Electrical Engineering and Robotics,Brisbane,QLD,Australia,4000","institution_ids":["https://openalex.org/I160993911"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I160993911"],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"10749","last_page":"10756"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11192","display_name":"Underwater Vehicles and Communication Systems","score":0.36660000681877136,"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":0.36660000681877136,"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/T11698","display_name":"Underwater Acoustics Research","score":0.24639999866485596,"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"}},{"id":"https://openalex.org/T10659","display_name":"Marine animal studies overview","score":0.11749999970197678,"subfield":{"id":"https://openalex.org/subfields/2303","display_name":"Ecology"},"field":{"id":"https://openalex.org/fields/23","display_name":"Environmental Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/underwater","display_name":"Underwater","score":0.795199990272522},{"id":"https://openalex.org/keywords/leverage","display_name":"Leverage (statistics)","score":0.6276000142097473},{"id":"https://openalex.org/keywords/pipeline","display_name":"Pipeline (software)","score":0.564300000667572},{"id":"https://openalex.org/keywords/segmentation","display_name":"Segmentation","score":0.5295000076293945},{"id":"https://openalex.org/keywords/identification","display_name":"Identification (biology)","score":0.46810001134872437},{"id":"https://openalex.org/keywords/benchmark","display_name":"Benchmark (surveying)","score":0.44209998846054077},{"id":"https://openalex.org/keywords/feature","display_name":"Feature (linguistics)","score":0.43849998712539673},{"id":"https://openalex.org/keywords/visual-inspection","display_name":"Visual inspection","score":0.4027999937534332},{"id":"https://openalex.org/keywords/feature-extraction","display_name":"Feature extraction","score":0.3702999949455261}],"concepts":[{"id":"https://openalex.org/C98083399","wikidata":"https://www.wikidata.org/wiki/Q3246517","display_name":"Underwater","level":2,"score":0.795199990272522},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6322000026702881},{"id":"https://openalex.org/C153083717","wikidata":"https://www.wikidata.org/wiki/Q6535263","display_name":"Leverage (statistics)","level":2,"score":0.6276000142097473},{"id":"https://openalex.org/C43521106","wikidata":"https://www.wikidata.org/wiki/Q2165493","display_name":"Pipeline (software)","level":2,"score":0.564300000667572},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5572999715805054},{"id":"https://openalex.org/C89600930","wikidata":"https://www.wikidata.org/wiki/Q1423946","display_name":"Segmentation","level":2,"score":0.5295000076293945},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.48260000348091125},{"id":"https://openalex.org/C116834253","wikidata":"https://www.wikidata.org/wiki/Q2039217","display_name":"Identification (biology)","level":2,"score":0.46810001134872437},{"id":"https://openalex.org/C185798385","wikidata":"https://www.wikidata.org/wiki/Q1161707","display_name":"Benchmark (surveying)","level":2,"score":0.44209998846054077},{"id":"https://openalex.org/C2776401178","wikidata":"https://www.wikidata.org/wiki/Q12050496","display_name":"Feature (linguistics)","level":2,"score":0.43849998712539673},{"id":"https://openalex.org/C168820333","wikidata":"https://www.wikidata.org/wiki/Q448889","display_name":"Visual inspection","level":2,"score":0.4027999937534332},{"id":"https://openalex.org/C52622490","wikidata":"https://www.wikidata.org/wiki/Q1026626","display_name":"Feature extraction","level":2,"score":0.3702999949455261},{"id":"https://openalex.org/C124504099","wikidata":"https://www.wikidata.org/wiki/Q56933","display_name":"Image segmentation","level":3,"score":0.3684999942779541},{"id":"https://openalex.org/C54525549","wikidata":"https://www.wikidata.org/wiki/Q2553445","display_name":"Weaving","level":2,"score":0.35010001063346863},{"id":"https://openalex.org/C2776760102","wikidata":"https://www.wikidata.org/wiki/Q5139990","display_name":"Code (set theory)","level":3,"score":0.33070001006126404},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.3294999897480011},{"id":"https://openalex.org/C52102323","wikidata":"https://www.wikidata.org/wiki/Q1671968","display_name":"Pose","level":2,"score":0.3118000030517578},{"id":"https://openalex.org/C115901376","wikidata":"https://www.wikidata.org/wiki/Q184199","display_name":"Automation","level":2,"score":0.3093999922275543},{"id":"https://openalex.org/C175309249","wikidata":"https://www.wikidata.org/wiki/Q725864","display_name":"Pipeline transport","level":2,"score":0.3059999942779541},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.29980000853538513},{"id":"https://openalex.org/C124101348","wikidata":"https://www.wikidata.org/wiki/Q172491","display_name":"Data mining","level":1,"score":0.29840001463890076},{"id":"https://openalex.org/C36464697","wikidata":"https://www.wikidata.org/wiki/Q451553","display_name":"Visualization","level":2,"score":0.296999990940094},{"id":"https://openalex.org/C145424490","wikidata":"https://www.wikidata.org/wiki/Q618465","display_name":"Remotely operated underwater vehicle","level":4,"score":0.29280000925064087},{"id":"https://openalex.org/C62649853","wikidata":"https://www.wikidata.org/wiki/Q199687","display_name":"Remote sensing","level":1,"score":0.28380000591278076},{"id":"https://openalex.org/C110872660","wikidata":"https://www.wikidata.org/wiki/Q37813","display_name":"Ecosystem","level":2,"score":0.2667999863624573},{"id":"https://openalex.org/C2987395694","wikidata":"https://www.wikidata.org/wiki/Q557891","display_name":"Feature tracking","level":3,"score":0.2660999894142151},{"id":"https://openalex.org/C2775936607","wikidata":"https://www.wikidata.org/wiki/Q466845","display_name":"Tracking (education)","level":2,"score":0.2653999924659729}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros60139.2025.11247445","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros60139.2025.11247445","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":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":47,"referenced_works":["https://openalex.org/W1536303072","https://openalex.org/W1996723244","https://openalex.org/W2001092428","https://openalex.org/W2010806162","https://openalex.org/W2035268366","https://openalex.org/W2072931689","https://openalex.org/W2092298952","https://openalex.org/W2121683864","https://openalex.org/W2152422184","https://openalex.org/W2160267262","https://openalex.org/W2252282888","https://openalex.org/W2619701599","https://openalex.org/W2620629206","https://openalex.org/W2962705366","https://openalex.org/W2968701781","https://openalex.org/W2981635988","https://openalex.org/W2996024871","https://openalex.org/W3034275286","https://openalex.org/W3043075211","https://openalex.org/W3110076758","https://openalex.org/W3124676898","https://openalex.org/W3135588990","https://openalex.org/W3155840449","https://openalex.org/W3163149666","https://openalex.org/W3173736705","https://openalex.org/W3204873281","https://openalex.org/W4285083380","https://openalex.org/W4285102646","https://openalex.org/W4312597490","https://openalex.org/W4312854990","https://openalex.org/W4319300119","https://openalex.org/W4321793256","https://openalex.org/W4375956270","https://openalex.org/W4383108307","https://openalex.org/W4386952483","https://openalex.org/W4389543852","https://openalex.org/W4389819300","https://openalex.org/W4390872200","https://openalex.org/W4390872507","https://openalex.org/W4392810816","https://openalex.org/W4394597531","https://openalex.org/W4401405293","https://openalex.org/W4402660141","https://openalex.org/W4402716379","https://openalex.org/W4405778961","https://openalex.org/W4405785647","https://openalex.org/W4414197087"],"related_works":[],"abstract_inverted_index":{"Effective":[0],"monitoring":[1],"of":[2,33,72,76,82,103],"underwater":[3,21,34,94],"ecosystems":[4],"is":[5,143],"crucial":[6],"for":[7,40],"tracking":[8],"environmental":[9,132],"changes,":[10],"guiding":[11],"conservation":[12],"efforts,":[13],"and":[14,58,79,125,139],"ensuring":[15],"long-term":[16],"ecosystem":[17,22,83],"health.":[18],"However,":[19],"automating":[20],"management":[23],"with":[24,122],"robotic":[25,108],"platforms":[26],"remains":[27],"challenging":[28],"due":[29],"to":[30,98,115],"the":[31,88],"complexities":[32],"imagery,":[35],"which":[36],"pose":[37],"significant":[38],"difficulties":[39],"traditional":[41],"visual":[42],"localization":[43],"methods.":[44],"We":[45],"propose":[46],"an":[47,100],"integrated":[48],"pipeline":[49],"that":[50],"combines":[51],"Visual":[52],"Place":[53],"Recognition":[54],"(VPR),":[55],"feature":[56],"matching,":[57],"image":[59],"segmentation":[60],"on":[61],"images":[62],"extracted":[63],"from":[64,106,113],"video":[65],"sequences.":[66],"This":[67],"method":[68],"enables":[69],"robust":[70],"identification":[71],"revisited":[73],"areas,":[74],"estimation":[75],"rigid":[77],"transformations,":[78],"downstream":[80],"analysis":[81],"changes.":[84],"Furthermore,":[85],"we":[86],"introduce":[87],"SQUIDLE+":[89],"VPR":[90,95],"Benchmark\u00d0the":[91],"first":[92],"large-scale":[93],"benchmark":[96],"designed":[97],"leverage":[99],"extensive":[101],"collection":[102],"unstructured":[104],"data":[105],"multiple":[107],"platforms,":[109],"spanning":[110],"time":[111],"intervals":[112],"days":[114],"years.":[116],"The":[117],"dataset":[118],"encompasses":[119],"diverse":[120,126],"trajectories":[121],"varying":[123],"overlap":[124],"seafloor":[127],"types":[128],"captured":[129],"under":[130],"different":[131],"conditions,":[133],"including":[134],"differences":[135],"in":[136],"depth,":[137],"lighting,":[138],"turbidity.":[140],"Our":[141],"code":[142],"available":[144],"at:":[145],"https://github.com/bev-gorry/underloc.":[146]},"counts_by_year":[],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-11-28T00:00:00"}