{"id":"https://openalex.org/W3216828986","doi":"https://doi.org/10.1109/lars/sbr/wre54079.2021.9605368","title":"A Framework for Underwater Vehicle Localization based on Cross-view and Cross-domain Acoustic and Aerial Images","display_name":"A Framework for Underwater Vehicle Localization based on Cross-view and Cross-domain Acoustic and Aerial Images","publication_year":2021,"publication_date":"2021-10-11","ids":{"openalex":"https://openalex.org/W3216828986","doi":"https://doi.org/10.1109/lars/sbr/wre54079.2021.9605368","mag":"3216828986"},"language":"en","primary_location":{"id":"doi:10.1109/lars/sbr/wre54079.2021.9605368","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lars/sbr/wre54079.2021.9605368","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2021 Latin American Robotics Symposium (LARS), 2021 Brazilian Symposium on Robotics (SBR), and 2021 Workshop on Robotics in Education (WRE)","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/A5049785542","display_name":"Matheus M. dos Santos","orcid":"https://orcid.org/0000-0002-6036-8670"},"institutions":[{"id":"https://openalex.org/I126460647","display_name":"Universidade Federal do Rio Grande","ror":"https://ror.org/05hpfkn88","country_code":"BR","type":"education","lineage":["https://openalex.org/I126460647"]}],"countries":["BR"],"is_corresponding":false,"raw_author_name":"Matheus M. Dos Santos","raw_affiliation_strings":["Intelligent Robotics and Automation Group - NAUTEC, Center for Computational Science - C3 Universidade Federal do Rio Grande - FURG, Rio Grande, Brazil"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Intelligent Robotics and Automation Group - NAUTEC, Center for Computational Science - C3 Universidade Federal do Rio Grande - FURG, Rio Grande, Brazil","institution_ids":["https://openalex.org/I126460647"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5046952017","display_name":"Giovanni G. De Giacomo","orcid":"https://orcid.org/0000-0003-1670-2536"},"institutions":[{"id":"https://openalex.org/I126460647","display_name":"Universidade Federal do Rio Grande","ror":"https://ror.org/05hpfkn88","country_code":"BR","type":"education","lineage":["https://openalex.org/I126460647"]}],"countries":["BR"],"is_corresponding":false,"raw_author_name":"Giovanni G. De Giacomo","raw_affiliation_strings":["Intelligent Robotics and Automation Group - NAUTEC, Center for Computational Science - C3 Universidade Federal do Rio Grande - FURG, Rio Grande, Brazil"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Intelligent Robotics and Automation Group - NAUTEC, Center for Computational Science - C3 Universidade Federal do Rio Grande - FURG, Rio Grande, Brazil","institution_ids":["https://openalex.org/I126460647"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5037041582","display_name":"Paulo Drews","orcid":"https://orcid.org/0000-0002-7519-0502"},"institutions":[{"id":"https://openalex.org/I126460647","display_name":"Universidade Federal do Rio Grande","ror":"https://ror.org/05hpfkn88","country_code":"BR","type":"education","lineage":["https://openalex.org/I126460647"]}],"countries":["BR"],"is_corresponding":false,"raw_author_name":"Paulo L. J. Drews-Jr","raw_affiliation_strings":["Intelligent Robotics and Automation Group - NAUTEC, Center for Computational Science - C3 Universidade Federal do Rio Grande - FURG, Rio Grande, Brazil"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Intelligent Robotics and Automation Group - NAUTEC, Center for Computational Science - C3 Universidade Federal do Rio Grande - FURG, Rio Grande, Brazil","institution_ids":["https://openalex.org/I126460647"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5029568844","display_name":"S\u00edlvia Silva da Costa Botelho","orcid":"https://orcid.org/0000-0002-8857-0221"},"institutions":[{"id":"https://openalex.org/I126460647","display_name":"Universidade Federal do Rio Grande","ror":"https://ror.org/05hpfkn88","country_code":"BR","type":"education","lineage":["https://openalex.org/I126460647"]}],"countries":["BR"],"is_corresponding":false,"raw_author_name":"Silvia S. C. Botelho","raw_affiliation_strings":["Intelligent Robotics and Automation Group - NAUTEC, Center for Computational Science - C3 Universidade Federal do Rio Grande - FURG, Rio Grande, Brazil"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Intelligent Robotics and Automation Group - NAUTEC, Center for Computational Science - C3 Universidade Federal do Rio Grande - FURG, Rio Grande, Brazil","institution_ids":["https://openalex.org/I126460647"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5006999475","display_name":"Claudio D. Mello","orcid":"https://orcid.org/0000-0003-0407-6910"},"institutions":[{"id":"https://openalex.org/I126460647","display_name":"Universidade Federal do Rio Grande","ror":"https://ror.org/05hpfkn88","country_code":"BR","type":"education","lineage":["https://openalex.org/I126460647"]}],"countries":["BR"],"is_corresponding":false,"raw_author_name":"Claudio D. Mello","raw_affiliation_strings":["Intelligent Robotics and Automation Group - NAUTEC, Center for Computational Science - C3 Universidade Federal do Rio Grande - FURG, Rio Grande, Brazil"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Intelligent Robotics and Automation Group - NAUTEC, Center for Computational Science - C3 Universidade Federal do Rio Grande - FURG, Rio Grande, Brazil","institution_ids":["https://openalex.org/I126460647"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.6949,"has_fulltext":false,"cited_by_count":5,"citation_normalized_percentile":{"value":0.70813615,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":98},"biblio":{"volume":null,"issue":null,"first_page":"204","last_page":"209"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11192","display_name":"Underwater Vehicles and Communication Systems","score":0.9998000264167786,"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":0.9998000264167786,"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":0.9997000098228455,"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":0.9994000196456909,"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/underwater","display_name":"Underwater","score":0.8902984857559204},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.7155750393867493},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7038791179656982},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.64848393201828},{"id":"https://openalex.org/keywords/global-positioning-system","display_name":"Global Positioning System","score":0.5282610654830933},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.5232495069503784},{"id":"https://openalex.org/keywords/domain","display_name":"Domain (mathematical analysis)","score":0.46977299451828003},{"id":"https://openalex.org/keywords/georeference","display_name":"Georeference","score":0.44088178873062134},{"id":"https://openalex.org/keywords/geography","display_name":"Geography","score":0.20875424146652222},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.17127427458763123},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.08414578437805176},{"id":"https://openalex.org/keywords/telecommunications","display_name":"Telecommunications","score":0.07482612133026123}],"concepts":[{"id":"https://openalex.org/C98083399","wikidata":"https://www.wikidata.org/wiki/Q3246517","display_name":"Underwater","level":2,"score":0.8902984857559204},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.7155750393867493},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7038791179656982},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.64848393201828},{"id":"https://openalex.org/C60229501","wikidata":"https://www.wikidata.org/wiki/Q18822","display_name":"Global Positioning System","level":2,"score":0.5282610654830933},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.5232495069503784},{"id":"https://openalex.org/C36503486","wikidata":"https://www.wikidata.org/wiki/Q11235244","display_name":"Domain (mathematical analysis)","level":2,"score":0.46977299451828003},{"id":"https://openalex.org/C75145180","wikidata":"https://www.wikidata.org/wiki/Q772007","display_name":"Georeference","level":2,"score":0.44088178873062134},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.20875424146652222},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.17127427458763123},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.08414578437805176},{"id":"https://openalex.org/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","level":1,"score":0.07482612133026123},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.0},{"id":"https://openalex.org/C100970517","wikidata":"https://www.wikidata.org/wiki/Q52107","display_name":"Physical geography","level":1,"score":0.0},{"id":"https://openalex.org/C166957645","wikidata":"https://www.wikidata.org/wiki/Q23498","display_name":"Archaeology","level":1,"score":0.0},{"id":"https://openalex.org/C201995342","wikidata":"https://www.wikidata.org/wiki/Q682496","display_name":"Systems engineering","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/lars/sbr/wre54079.2021.9605368","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lars/sbr/wre54079.2021.9605368","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2021 Latin American Robotics Symposium (LARS), 2021 Brazilian Symposium on Robotics (SBR), and 2021 Workshop on Robotics in Education (WRE)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.8100000023841858,"display_name":"Life below water","id":"https://metadata.un.org/sdg/14"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":35,"referenced_works":["https://openalex.org/W14517147","https://openalex.org/W1843575698","https://openalex.org/W1910817791","https://openalex.org/W1938020354","https://openalex.org/W1946093182","https://openalex.org/W1964973847","https://openalex.org/W1988873224","https://openalex.org/W2010557955","https://openalex.org/W2058220625","https://openalex.org/W2061153075","https://openalex.org/W2081418428","https://openalex.org/W2157364932","https://openalex.org/W2161709502","https://openalex.org/W2199890863","https://openalex.org/W2202263281","https://openalex.org/W2336416123","https://openalex.org/W2567687466","https://openalex.org/W2598199894","https://openalex.org/W2760357274","https://openalex.org/W2795438519","https://openalex.org/W2799087793","https://openalex.org/W2887134078","https://openalex.org/W2901136733","https://openalex.org/W2943308732","https://openalex.org/W2945214992","https://openalex.org/W2963775347","https://openalex.org/W3005166619","https://openalex.org/W3010345952","https://openalex.org/W3047462019","https://openalex.org/W3119467242","https://openalex.org/W3120739971","https://openalex.org/W4320013936","https://openalex.org/W6600589336","https://openalex.org/W6735071091","https://openalex.org/W6756486208"],"related_works":["https://openalex.org/W2032854667","https://openalex.org/W4389670513","https://openalex.org/W4394320241","https://openalex.org/W2619880372","https://openalex.org/W1619824977","https://openalex.org/W241236883","https://openalex.org/W4394384000","https://openalex.org/W4394033422","https://openalex.org/W2592233131","https://openalex.org/W4233190016"],"abstract_inverted_index":{"Underwater":[0],"robot":[1],"localization":[2,43,60,131],"is":[3,90,110],"a":[4,12,56,113,122,127],"challenging":[5],"task":[6],"due":[7],"to":[8,20,83,92,134],"the":[9,18,48,74,77,80,85,130,135,139],"lack":[10],"of":[11,46,138],"Global":[13],"Positioning":[14],"System":[15],"(GPS).":[16],"However,":[17],"capability":[19],"match":[21,93],"georeferenced":[22],"aerial":[23,36,65],"images":[24,66,78,94],"and":[25,37,58,67,106],"acoustic":[26,69],"underwater":[27,38,68,86,119],"data":[28],"can":[29],"help":[30],"on":[31,63,112],"this":[32],"task.":[33],"Autonomous":[34],"hybrid":[35],"vehicles":[39],"also":[40],"demand":[41],"new":[42],"methods":[44],"capable":[45],"combining":[47],"perception":[49],"from":[50,79],"both":[51],"environments.":[52],"This":[53],"paper":[54],"proposes":[55],"cross-domain":[57],"cross-view":[59],"framework":[61],"based":[62],"color":[64],"images.":[70],"The":[71,88,108,124],"method":[72,89],"identify":[73],"correlation":[75],"between":[76],"different":[81],"domains":[82],"improve":[84],"localization.":[87],"designed":[91],"acquired":[95,116],"in":[96,121,129],"partially":[97],"structured":[98],"environments":[99],"with":[100],"shared":[101],"features,":[102],"such":[103],"as":[104],"harbors":[105],"marinas.":[107],"approach":[109],"validated":[111],"real":[114],"dataset":[115],"by":[117],"an":[118],"vehicle":[120],"marina.":[123],"results":[125],"shows":[126],"improvement":[128],"when":[132],"compared":[133],"dead":[136],"reckoning":[137],"vehicle.":[140]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2023,"cited_by_count":1},{"year":2022,"cited_by_count":3}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}
