{"id":"https://openalex.org/W2990596699","doi":"https://doi.org/10.1109/iscit.2019.8905169","title":"Detecting Water Reflection Symmetries in Point Clouds for Camera Position Calibration in Unmanned Surface Vehicles","display_name":"Detecting Water Reflection Symmetries in Point Clouds for Camera Position Calibration in Unmanned Surface Vehicles","publication_year":2019,"publication_date":"2019-09-01","ids":{"openalex":"https://openalex.org/W2990596699","doi":"https://doi.org/10.1109/iscit.2019.8905169","mag":"2990596699"},"language":"en","primary_location":{"id":"doi:10.1109/iscit.2019.8905169","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iscit.2019.8905169","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2019 19th International Symposium on Communications and Information Technologies (ISCIT)","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://www.utupub.fi/bitstream/10024/163630/1/detectingwaterqingqing_ISCIT2019.pdf","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5050580578","display_name":"Qingqing Li","orcid":"https://orcid.org/0000-0001-6556-2213"},"institutions":[{"id":"https://openalex.org/I155660961","display_name":"University of Turku","ror":"https://ror.org/05vghhr25","country_code":"FI","type":"education","lineage":["https://openalex.org/I155660961"]}],"countries":["FI"],"is_corresponding":false,"raw_author_name":"L. Qingqing","raw_affiliation_strings":["University of Turku,Department of Future Technologies,Finland","Department of Future Technologies, University of Turku, Finland"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Turku,Department of Future Technologies,Finland","institution_ids":["https://openalex.org/I155660961"]},{"raw_affiliation_string":"Department of Future Technologies, University of Turku, Finland","institution_ids":["https://openalex.org/I155660961"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5034604688","display_name":"Jorge Pe\u00f1a Queralta","orcid":"https://orcid.org/0000-0003-3091-3217"},"institutions":[{"id":"https://openalex.org/I155660961","display_name":"University of Turku","ror":"https://ror.org/05vghhr25","country_code":"FI","type":"education","lineage":["https://openalex.org/I155660961"]}],"countries":["FI"],"is_corresponding":false,"raw_author_name":"J. Pe\u00f1a Queralta","raw_affiliation_strings":["University of Turku,Department of Future Technologies,Finland","Department of Future Technologies, University of Turku, Finland"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Turku,Department of Future Technologies,Finland","institution_ids":["https://openalex.org/I155660961"]},{"raw_affiliation_string":"Department of Future Technologies, University of Turku, Finland","institution_ids":["https://openalex.org/I155660961"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5054438127","display_name":"Tuan Nguyen Gia","orcid":"https://orcid.org/0000-0002-9851-9868"},"institutions":[{"id":"https://openalex.org/I155660961","display_name":"University of Turku","ror":"https://ror.org/05vghhr25","country_code":"FI","type":"education","lineage":["https://openalex.org/I155660961"]}],"countries":["FI"],"is_corresponding":false,"raw_author_name":"T. Nguyen Gia","raw_affiliation_strings":["University of Turku,Department of Future Technologies,Finland","Department of Future Technologies, University of Turku, Finland"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Turku,Department of Future Technologies,Finland","institution_ids":["https://openalex.org/I155660961"]},{"raw_affiliation_string":"Department of Future Technologies, University of Turku, Finland","institution_ids":["https://openalex.org/I155660961"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5043039025","display_name":"Zhuo Zou","orcid":"https://orcid.org/0000-0002-8546-1329"},"institutions":[{"id":"https://openalex.org/I24943067","display_name":"Fudan University","ror":"https://ror.org/013q1eq08","country_code":"CN","type":"education","lineage":["https://openalex.org/I24943067"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Z. Zou","raw_affiliation_strings":["Fudan Universtiy,School of Information Science and Technology,China","School of Information Science and Technology, Fudan Universtiy, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Fudan Universtiy,School of Information Science and Technology,China","institution_ids":["https://openalex.org/I24943067"]},{"raw_affiliation_string":"School of Information Science and Technology, Fudan Universtiy, China","institution_ids":["https://openalex.org/I24943067"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5003371230","display_name":"Hannu Tenhunen","orcid":"https://orcid.org/0000-0003-1959-6513"},"institutions":[{"id":"https://openalex.org/I86987016","display_name":"KTH Royal Institute of Technology","ror":"https://ror.org/026vcq606","country_code":"SE","type":"education","lineage":["https://openalex.org/I86987016"]}],"countries":["SE"],"is_corresponding":false,"raw_author_name":"H. Tenhunen","raw_affiliation_strings":["KTH Royal Institute of Technology,Department of Electronics,Sweden","Department of Electronics, KTH Royal Institute of Technology, Sweden"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"KTH Royal Institute of Technology,Department of Electronics,Sweden","institution_ids":["https://openalex.org/I86987016"]},{"raw_affiliation_string":"Department of Electronics, KTH Royal Institute of Technology, Sweden","institution_ids":["https://openalex.org/I86987016"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5031850966","display_name":"Tomi Westerlund","orcid":"https://orcid.org/0000-0002-1793-2694"},"institutions":[{"id":"https://openalex.org/I155660961","display_name":"University of Turku","ror":"https://ror.org/05vghhr25","country_code":"FI","type":"education","lineage":["https://openalex.org/I155660961"]}],"countries":["FI"],"is_corresponding":false,"raw_author_name":"T. Westerlund","raw_affiliation_strings":["University of Turku,Department of Future Technologies,Finland","Department of Future Technologies, University of Turku, Finland"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Turku,Department of Future Technologies,Finland","institution_ids":["https://openalex.org/I155660961"]},{"raw_affiliation_string":"Department of Future Technologies, University of Turku, Finland","institution_ids":["https://openalex.org/I155660961"]}]}],"institutions":[],"countries_distinct_count":3,"institutions_distinct_count":6,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":3.6804,"has_fulltext":false,"cited_by_count":3,"citation_normalized_percentile":{"value":0.95744128,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":90,"max":96},"biblio":{"volume":null,"issue":null,"first_page":"507","last_page":"512"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9969000220298767,"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"}},"topics":[{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9969000220298767,"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/T11164","display_name":"Remote Sensing and LiDAR Applications","score":0.9968000054359436,"subfield":{"id":"https://openalex.org/subfields/2305","display_name":"Environmental Engineering"},"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/T11622","display_name":"Maritime Navigation and Safety","score":0.9830999970436096,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/point-cloud","display_name":"Point cloud","score":0.7304486036300659},{"id":"https://openalex.org/keywords/orientation","display_name":"Orientation (vector space)","score":0.7079058289527893},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.6705214977264404},{"id":"https://openalex.org/keywords/calibration","display_name":"Calibration","score":0.6545008420944214},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.6431294679641724},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.643025279045105},{"id":"https://openalex.org/keywords/position","display_name":"Position (finance)","score":0.6242440938949585},{"id":"https://openalex.org/keywords/remote-sensing","display_name":"Remote sensing","score":0.555778980255127},{"id":"https://openalex.org/keywords/segmentation","display_name":"Segmentation","score":0.48114287853240967},{"id":"https://openalex.org/keywords/pose","display_name":"Pose","score":0.4325731694698334},{"id":"https://openalex.org/keywords/stereo-camera","display_name":"Stereo camera","score":0.42572319507598877},{"id":"https://openalex.org/keywords/unmanned-surface-vehicle","display_name":"Unmanned surface vehicle","score":0.42241179943084717},{"id":"https://openalex.org/keywords/point","display_name":"Point (geometry)","score":0.4202117621898651},{"id":"https://openalex.org/keywords/geology","display_name":"Geology","score":0.253806471824646},{"id":"https://openalex.org/keywords/marine-engineering","display_name":"Marine engineering","score":0.21000221371650696},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.1565709114074707},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.08702251315116882},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.08503666520118713}],"concepts":[{"id":"https://openalex.org/C131979681","wikidata":"https://www.wikidata.org/wiki/Q1899648","display_name":"Point cloud","level":2,"score":0.7304486036300659},{"id":"https://openalex.org/C16345878","wikidata":"https://www.wikidata.org/wiki/Q107472979","display_name":"Orientation (vector space)","level":2,"score":0.7079058289527893},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.6705214977264404},{"id":"https://openalex.org/C165838908","wikidata":"https://www.wikidata.org/wiki/Q736777","display_name":"Calibration","level":2,"score":0.6545008420944214},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6431294679641724},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.643025279045105},{"id":"https://openalex.org/C198082294","wikidata":"https://www.wikidata.org/wiki/Q3399648","display_name":"Position (finance)","level":2,"score":0.6242440938949585},{"id":"https://openalex.org/C62649853","wikidata":"https://www.wikidata.org/wiki/Q199687","display_name":"Remote sensing","level":1,"score":0.555778980255127},{"id":"https://openalex.org/C89600930","wikidata":"https://www.wikidata.org/wiki/Q1423946","display_name":"Segmentation","level":2,"score":0.48114287853240967},{"id":"https://openalex.org/C52102323","wikidata":"https://www.wikidata.org/wiki/Q1671968","display_name":"Pose","level":2,"score":0.4325731694698334},{"id":"https://openalex.org/C185078393","wikidata":"https://www.wikidata.org/wiki/Q313783","display_name":"Stereo camera","level":2,"score":0.42572319507598877},{"id":"https://openalex.org/C2987248590","wikidata":"https://www.wikidata.org/wiki/Q4419860","display_name":"Unmanned surface vehicle","level":2,"score":0.42241179943084717},{"id":"https://openalex.org/C28719098","wikidata":"https://www.wikidata.org/wiki/Q44946","display_name":"Point (geometry)","level":2,"score":0.4202117621898651},{"id":"https://openalex.org/C127313418","wikidata":"https://www.wikidata.org/wiki/Q1069","display_name":"Geology","level":0,"score":0.253806471824646},{"id":"https://openalex.org/C199104240","wikidata":"https://www.wikidata.org/wiki/Q118291","display_name":"Marine engineering","level":1,"score":0.21000221371650696},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.1565709114074707},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.08702251315116882},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.08503666520118713},{"id":"https://openalex.org/C10138342","wikidata":"https://www.wikidata.org/wiki/Q43015","display_name":"Finance","level":1,"score":0.0},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.0},{"id":"https://openalex.org/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"score":0.0},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/iscit.2019.8905169","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iscit.2019.8905169","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2019 19th International Symposium on Communications and Information Technologies (ISCIT)","raw_type":"proceedings-article"},{"id":"pmh:oai:www.utupub.fi:10024/163630","is_oa":true,"landing_page_url":"https://www.utupub.fi/handle/10024/163630","pdf_url":"https://www.utupub.fi/bitstream/10024/163630/1/detectingwaterqingqing_ISCIT2019.pdf","source":{"id":"https://openalex.org/S4306402470","display_name":"UTUPub (University of Turku)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I155660961","host_organization_name":"University of Turku","host_organization_lineage":["https://openalex.org/I155660961"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":""}],"best_oa_location":{"id":"pmh:oai:www.utupub.fi:10024/163630","is_oa":true,"landing_page_url":"https://www.utupub.fi/handle/10024/163630","pdf_url":"https://www.utupub.fi/bitstream/10024/163630/1/detectingwaterqingqing_ISCIT2019.pdf","source":{"id":"https://openalex.org/S4306402470","display_name":"UTUPub (University of Turku)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I155660961","host_organization_name":"University of Turku","host_organization_lineage":["https://openalex.org/I155660961"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":""},"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/14","display_name":"Life below water","score":0.8500000238418579}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W2990596699.pdf"},"referenced_works_count":26,"referenced_works":["https://openalex.org/W316935178","https://openalex.org/W1512698229","https://openalex.org/W1969302044","https://openalex.org/W1977934833","https://openalex.org/W2013424615","https://openalex.org/W2018158097","https://openalex.org/W2107776472","https://openalex.org/W2119880034","https://openalex.org/W2152272310","https://openalex.org/W2152864241","https://openalex.org/W2162440529","https://openalex.org/W2415454270","https://openalex.org/W2584404397","https://openalex.org/W2665089225","https://openalex.org/W2793116851","https://openalex.org/W2895823967","https://openalex.org/W2901136733","https://openalex.org/W2910194729","https://openalex.org/W2922510530","https://openalex.org/W2939985966","https://openalex.org/W2944173748","https://openalex.org/W2945505203","https://openalex.org/W2963083779","https://openalex.org/W2963859992","https://openalex.org/W2981011740","https://openalex.org/W6756486208"],"related_works":["https://openalex.org/W4389574804","https://openalex.org/W2123263858","https://openalex.org/W3127959533","https://openalex.org/W3016928466","https://openalex.org/W2936725271","https://openalex.org/W3150655618","https://openalex.org/W3108295644","https://openalex.org/W1578717197","https://openalex.org/W4320086129","https://openalex.org/W2536898772"],"abstract_inverted_index":{"The":[0],"development":[1],"of":[2,20,36,80,109,111,164,210,220,235,257],"autonomous":[3,21,28],"vehicles":[4,30,86],"has":[5],"seen":[6],"considerable":[7],"advances":[8],"over":[9],"the":[10,18,73,81,88,157,162,176,194,199,203,208,221,228,233,242,252,255,258],"past":[11],"decade.":[12],"However,":[13,128],"specific":[14,54],"challenges":[15],"remain":[16],"in":[17,27,43,52,83,125,129,175,241],"area":[19],"waterborne":[22],"navigation.":[23],"Two":[24],"key":[25],"aspects":[26],"surface":[29,123,149],"are":[31,173,189],"sensor":[32],"calibration":[33],"and":[34,40,56,206,218,254],"segmentation":[35,124],"water":[37,89,122,148,158,195],"surface.":[38],"Cameras":[39],"other":[41,130],"sensors":[42,68,99],"a":[44,53,59,95,141,153,180,185],"car":[45],"or":[46,75,136],"drone":[47],"can":[48,91],"be":[49,70,92],"installed":[50,71],"accurately":[51,192],"position":[55,205,217],"orientation.":[57,103],"In":[58],"large":[60],"vessel,":[61],"this":[62],"is":[63,223],"not":[64],"always":[65],"possible,":[66],"as":[67,94,133],"might":[69,144],"around":[72],"vessel":[74,249],"on":[76,161],"masts.":[77],"Taking":[78],"advantage":[79],"medium":[82],"which":[84],"these":[85],"operate,":[87],"plane":[90,159],"used":[93],"reference":[96],"for":[97,121],"different":[98,142],"to":[100,155,191,227],"calibrate":[101,202],"their":[102],"This":[104],"allows":[105],"more":[106,146],"accurate":[107,147],"localization":[108,209],"obstacles":[110],"objects.":[112],"State-of-the-art":[113],"deep":[114],"learning":[115],"techniques":[116],"have":[117],"been":[118],"successfully":[119],"applied":[120],"open":[126],"sea.":[127],"environments":[131],"such":[132],"small":[134],"rivers":[135],"lakes":[137],"with":[138,184,225,238,246],"still":[139],"waters,":[140],"approach":[143],"enable":[145],"estimation.":[150],"We":[151,212,231],"propose":[152],"method":[154,237],"estimate":[156,193],"based":[160],"detection":[163],"local":[165],"symmetry":[166],"planes":[167],"that":[168,214],"naturally":[169],"occur":[170],"when":[171],"objects":[172],"reflected":[174],"water.":[177],"By":[178],"using":[179],"point":[181],"cloud":[182],"generated":[183],"stereo":[186],"camera,":[187],"we":[188],"able":[190],"level":[196],"and,":[197],"at":[198],"same":[200],"time,":[201],"camera":[204,222],"improve":[207],"obstacles.":[211],"assume":[213],"an":[215],"approximate":[216],"orientation":[219],"known":[224],"respect":[226],"sea":[229],"level.":[230],"demonstrate":[232],"efficiency":[234],"our":[236,247],"data":[239],"obtained":[240],"Aura":[243],"river,":[244],"Finland,":[245],"prototype":[248],"facing":[250],"both":[251],"riverside":[253],"center":[256],"river.":[259]},"counts_by_year":[{"year":2024,"cited_by_count":1},{"year":2020,"cited_by_count":2}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}