{"id":"https://openalex.org/W4406610607","doi":"https://doi.org/10.1109/jiot.2025.3527131","title":"Depth-Consistent Monocular Visual Trajectory Estimation for AUVs","display_name":"Depth-Consistent Monocular Visual Trajectory Estimation for AUVs","publication_year":2025,"publication_date":"2025-01-20","ids":{"openalex":"https://openalex.org/W4406610607","doi":"https://doi.org/10.1109/jiot.2025.3527131"},"language":"es","primary_location":{"id":"doi:10.1109/jiot.2025.3527131","is_oa":false,"landing_page_url":"https://doi.org/10.1109/jiot.2025.3527131","pdf_url":null,"source":{"id":"https://openalex.org/S2480266640","display_name":"IEEE Internet of Things Journal","issn_l":"2327-4662","issn":["2327-4662","2372-2541"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Internet of Things Journal","raw_type":"journal-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/A5100345121","display_name":"Yangyang Wang","orcid":"https://orcid.org/0000-0002-0426-7023"},"institutions":[{"id":"https://openalex.org/I43313876","display_name":"Dalian Maritime University","ror":"https://ror.org/002b7nr53","country_code":"CN","type":"education","lineage":["https://openalex.org/I43313876"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yangyang Wang","raw_affiliation_strings":["School of Information Science and Technology, Dalian Maritime University, Dalian, China","School of Information Science and Technology, Dalian Maritime University, Dalian, P.R. China"],"raw_orcid":"https://orcid.org/0000-0002-0426-7023","affiliations":[{"raw_affiliation_string":"School of Information Science and Technology, Dalian Maritime University, Dalian, China","institution_ids":["https://openalex.org/I43313876"]},{"raw_affiliation_string":"School of Information Science and Technology, Dalian Maritime University, Dalian, P.R. China","institution_ids":["https://openalex.org/I43313876"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5086178628","display_name":"Xiaokai Liu","orcid":"https://orcid.org/0000-0001-8509-5624"},"institutions":[{"id":"https://openalex.org/I43313876","display_name":"Dalian Maritime University","ror":"https://ror.org/002b7nr53","country_code":"CN","type":"education","lineage":["https://openalex.org/I43313876"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xiaokai Liu","raw_affiliation_strings":["School of Information Science and Technology, Dalian Maritime University, Dalian, China","School of Information Science and Technology, Dalian Maritime University, Dalian, P.R. China"],"raw_orcid":"https://orcid.org/0000-0001-8509-5624","affiliations":[{"raw_affiliation_string":"School of Information Science and Technology, Dalian Maritime University, Dalian, China","institution_ids":["https://openalex.org/I43313876"]},{"raw_affiliation_string":"School of Information Science and Technology, Dalian Maritime University, Dalian, P.R. China","institution_ids":["https://openalex.org/I43313876"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5076389260","display_name":"Dongbing Gu","orcid":"https://orcid.org/0000-0002-0986-2921"},"institutions":[{"id":"https://openalex.org/I110002522","display_name":"University of Essex","ror":"https://ror.org/02nkf1q06","country_code":"GB","type":"education","lineage":["https://openalex.org/I110002522"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Dongbing Gu","raw_affiliation_strings":["School of Computer Science and Electronic Engineering, University of Essex, Colchester, U.K"],"raw_orcid":"https://orcid.org/0000-0002-0986-2921","affiliations":[{"raw_affiliation_string":"School of Computer Science and Electronic Engineering, University of Essex, Colchester, U.K","institution_ids":["https://openalex.org/I110002522"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100440164","display_name":"Jie Wang","orcid":"https://orcid.org/0000-0003-1172-1551"},"institutions":[{"id":"https://openalex.org/I43313876","display_name":"Dalian Maritime University","ror":"https://ror.org/002b7nr53","country_code":"CN","type":"education","lineage":["https://openalex.org/I43313876"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jie Wang","raw_affiliation_strings":["School of Information Science and Technology, Dalian Maritime University, Dalian, China","School of Information Science and Technology, Dalian Maritime University, Dalian, P.R. China"],"raw_orcid":"https://orcid.org/0000-0003-1172-1551","affiliations":[{"raw_affiliation_string":"School of Information Science and Technology, Dalian Maritime University, Dalian, China","institution_ids":["https://openalex.org/I43313876"]},{"raw_affiliation_string":"School of Information Science and Technology, Dalian Maritime University, Dalian, P.R. China","institution_ids":["https://openalex.org/I43313876"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5061942743","display_name":"Xianping Fu","orcid":"https://orcid.org/0000-0001-9888-9327"},"institutions":[{"id":"https://openalex.org/I43313876","display_name":"Dalian Maritime University","ror":"https://ror.org/002b7nr53","country_code":"CN","type":"education","lineage":["https://openalex.org/I43313876"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xianping Fu","raw_affiliation_strings":["School of Information Science and Technology, Dalian Maritime University, Dalian, China","School of Information Science and Technology, Dalian Maritime University, Dalian, P.R. China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Information Science and Technology, Dalian Maritime University, Dalian, China","institution_ids":["https://openalex.org/I43313876"]},{"raw_affiliation_string":"School of Information Science and Technology, Dalian Maritime University, Dalian, P.R. China","institution_ids":["https://openalex.org/I43313876"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":10.0877,"has_fulltext":false,"cited_by_count":3,"citation_normalized_percentile":{"value":0.96864718,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":98,"max":99},"biblio":{"volume":"12","issue":"10","first_page":"14909","last_page":"14920"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9988999962806702,"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":0.9988999962806702,"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/T10531","display_name":"Advanced Vision and Imaging","score":0.9915000200271606,"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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9872999787330627,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.749709963798523},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.6992979049682617},{"id":"https://openalex.org/keywords/monocular","display_name":"Monocular","score":0.6652387380599976},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.6351010799407959},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5750958919525146},{"id":"https://openalex.org/keywords/estimation","display_name":"Estimation","score":0.529274582862854},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.08662223815917969}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.749709963798523},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.6992979049682617},{"id":"https://openalex.org/C65909025","wikidata":"https://www.wikidata.org/wiki/Q1945033","display_name":"Monocular","level":2,"score":0.6652387380599976},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.6351010799407959},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5750958919525146},{"id":"https://openalex.org/C96250715","wikidata":"https://www.wikidata.org/wiki/Q965330","display_name":"Estimation","level":2,"score":0.529274582862854},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.08662223815917969},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C201995342","wikidata":"https://www.wikidata.org/wiki/Q682496","display_name":"Systems engineering","level":1,"score":0.0},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/jiot.2025.3527131","is_oa":false,"landing_page_url":"https://doi.org/10.1109/jiot.2025.3527131","pdf_url":null,"source":{"id":"https://openalex.org/S2480266640","display_name":"IEEE Internet of Things Journal","issn_l":"2327-4662","issn":["2327-4662","2372-2541"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Internet of Things Journal","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Climate action","id":"https://metadata.un.org/sdg/13","score":0.6600000262260437}],"awards":[{"id":"https://openalex.org/G1440888232","display_name":null,"funder_award_id":"2024-BS-021","funder_id":"https://openalex.org/F4320323086","funder_display_name":"Natural Science Foundation of Liaoning Province"},{"id":"https://openalex.org/G2615594448","display_name":null,"funder_award_id":"62471080","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G3666205620","display_name":null,"funder_award_id":"2024M750294","funder_id":"https://openalex.org/F4320321543","funder_display_name":"China Postdoctoral Science Foundation"},{"id":"https://openalex.org/G4016107466","display_name":null,"funder_award_id":"2024M750294","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G5628513989","display_name":null,"funder_award_id":"2024-MS-010","funder_id":"https://openalex.org/F4320323086","funder_display_name":"Natural Science Foundation of Liaoning Province"},{"id":"https://openalex.org/G5822102252","display_name":null,"funder_award_id":"62271098","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"}],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"},{"id":"https://openalex.org/F4320321543","display_name":"China Postdoctoral Science Foundation","ror":"https://ror.org/0426zh255"},{"id":"https://openalex.org/F4320323086","display_name":"Natural Science Foundation of Liaoning Province","ror":null}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":48,"referenced_works":["https://openalex.org/W1901129140","https://openalex.org/W2038085326","https://openalex.org/W2133665775","https://openalex.org/W2167667767","https://openalex.org/W2602686523","https://openalex.org/W2964156315","https://openalex.org/W2968633326","https://openalex.org/W2985775862","https://openalex.org/W3025152627","https://openalex.org/W3027702711","https://openalex.org/W3034364596","https://openalex.org/W3086453453","https://openalex.org/W3091687063","https://openalex.org/W3104285145","https://openalex.org/W3188580616","https://openalex.org/W4205338556","https://openalex.org/W4205369759","https://openalex.org/W4210693662","https://openalex.org/W4226446010","https://openalex.org/W4289825034","https://openalex.org/W4312801317","https://openalex.org/W4313191203","https://openalex.org/W4313886733","https://openalex.org/W4319863668","https://openalex.org/W4319990602","https://openalex.org/W4360770966","https://openalex.org/W4366308991","https://openalex.org/W4367663104","https://openalex.org/W4367663115","https://openalex.org/W4377715813","https://openalex.org/W4380303565","https://openalex.org/W4383108307","https://openalex.org/W4386432018","https://openalex.org/W4386432320","https://openalex.org/W4386973845","https://openalex.org/W4387490631","https://openalex.org/W4387682177","https://openalex.org/W4388895081","https://openalex.org/W4388895197","https://openalex.org/W4389104592","https://openalex.org/W4389310694","https://openalex.org/W4390815173","https://openalex.org/W4391067927","https://openalex.org/W4391936007","https://openalex.org/W4391953362","https://openalex.org/W4392024431","https://openalex.org/W4399800811","https://openalex.org/W4402474635"],"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":{"Visual":[0],"trajectory":[1,47,65,115,157],"estimation":[2,48,66,116,158],"can":[3,71],"endow":[4],"autonomous":[5],"underwater":[6,25,41,51],"vehicles":[7],"(AUVs)":[8],"with":[9,107,155],"environmental":[10],"perception":[11],"capabilities":[12],"and":[13,27,35,77,85,111,150,160],"has":[14],"broad":[15],"application":[16],"prospects":[17],"in":[18,49,165],"the":[19,73,108,129,140,166,177,180],"fields,":[20],"such":[21],"as":[22],"oceanographic":[23],"surveys,":[24],"construction,":[26],"marine":[28],"ranching.":[29],"However,":[30],"due":[31],"to":[32,105,139,169],"featureless":[33,76,109],"images":[34],"depth":[36,78,132],"ambiguity":[37,79,133],"issues":[38],"caused":[39],"by":[40,80,134],"multiple":[42],"mediums":[43],"environments,":[44],"monocular":[45,63,102],"visual":[46,64],"complex":[50],"environments":[52],"remains":[53],"a":[54,62,91,147],"challenging":[55],"problem.":[56],"In":[57],"this":[58],"article,":[59],"we":[60,89,121],"propose":[61,122],"method":[67],"for":[68],"AUVs,":[69],"which":[70,127],"address":[72],"challenges":[74],"of":[75,131,179],"leveraging":[81],"deep":[82,142],"image":[83],"representations":[84],"multiview":[86],"geometry.":[87],"Specifically,":[88],"design":[90],"bidirectional":[92],"optical":[93],"flow":[94],"consistency":[95],"scheme":[96],"that":[97],"selects":[98],"sparse":[99],"correspondences":[100],"from":[101],"dense":[103],"predictions":[104],"deal":[106],"images,":[110],"then":[112],"achieve":[113],"AUV":[114,152],"through":[117],"epipolar":[118],"constraints.":[119],"Furthermore,":[120],"an":[123],"iterative":[124],"depth-consistent":[125],"method,":[126],"solves":[128],"problem":[130],"aligning":[135],"geometrically":[136],"triangulated":[137],"depths":[138],"scale-consistent":[141],"depths.":[143],"We":[144],"also":[145],"develop":[146],"low-cost,":[148],"agile,":[149],"portable":[151],"picking":[153],"system":[154],"real-time":[156],"capabilities,":[159],"carry":[161],"out":[162],"extensive":[163],"experiments":[164],"Yellow":[167],"Sea":[168],"test":[170],"its":[171],"performance.":[172],"The":[173],"experimental":[174],"results":[175],"demonstrate":[176],"effectiveness":[178],"proposed":[181],"method.":[182]},"counts_by_year":[{"year":2026,"cited_by_count":3}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}