{"id":"https://openalex.org/W2058057783","doi":"https://doi.org/10.1109/lascas.2013.6519001","title":"Development of a stereo vision measurement architecture for an underwater robot","display_name":"Development of a stereo vision measurement architecture for an underwater robot","publication_year":2013,"publication_date":"2013-02-01","ids":{"openalex":"https://openalex.org/W2058057783","doi":"https://doi.org/10.1109/lascas.2013.6519001","mag":"2058057783"},"language":"en","primary_location":{"id":"doi:10.1109/lascas.2013.6519001","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lascas.2013.6519001","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2013 IEEE 4th Latin American Symposium on Circuits and Systems (LASCAS)","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/A5078864941","display_name":"Camilo S\u00e1nchez-Ferreira","orcid":"https://orcid.org/0000-0003-1031-9851"},"institutions":[{"id":"https://openalex.org/I150729083","display_name":"Universidade de Bras\u00edlia","ror":"https://ror.org/02xfp8v59","country_code":"BR","type":"education","lineage":["https://openalex.org/I150729083"]}],"countries":["BR"],"is_corresponding":true,"raw_author_name":"C. Sanchez-Ferreira","raw_affiliation_strings":["Mechanical Engineering Department, University of Brasilia, Brasilia, Brazil","Mech. Eng. Dept., Univ. of Brasilia, Brasilia, Brazil"],"affiliations":[{"raw_affiliation_string":"Mechanical Engineering Department, University of Brasilia, Brasilia, Brazil","institution_ids":["https://openalex.org/I150729083"]},{"raw_affiliation_string":"Mech. Eng. Dept., Univ. of Brasilia, Brasilia, Brazil","institution_ids":["https://openalex.org/I150729083"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5083753543","display_name":"Jones Y. Mori","orcid":"https://orcid.org/0000-0001-6707-853X"},"institutions":[{"id":"https://openalex.org/I150729083","display_name":"Universidade de Bras\u00edlia","ror":"https://ror.org/02xfp8v59","country_code":"BR","type":"education","lineage":["https://openalex.org/I150729083"]}],"countries":["BR"],"is_corresponding":false,"raw_author_name":"J. Y. Mori","raw_affiliation_strings":["Mechanical Engineering Department, University of Brasilia, Brasilia, Brazil","Mech. Eng. Dept., Univ. of Brasilia, Brasilia, Brazil"],"affiliations":[{"raw_affiliation_string":"Mechanical Engineering Department, University of Brasilia, Brasilia, Brazil","institution_ids":["https://openalex.org/I150729083"]},{"raw_affiliation_string":"Mech. Eng. Dept., Univ. of Brasilia, Brasilia, Brazil","institution_ids":["https://openalex.org/I150729083"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5042189424","display_name":"Carlos H. Llanos","orcid":"https://orcid.org/0000-0002-0115-4461"},"institutions":[{"id":"https://openalex.org/I150729083","display_name":"Universidade de Bras\u00edlia","ror":"https://ror.org/02xfp8v59","country_code":"BR","type":"education","lineage":["https://openalex.org/I150729083"]}],"countries":["BR"],"is_corresponding":false,"raw_author_name":"Carlos H. Llanos","raw_affiliation_strings":["Mechanical Engineering Department, University of Brasilia, Brasilia, Brazil","Mech. Eng. Dept., Univ. of Brasilia, Brasilia, Brazil"],"affiliations":[{"raw_affiliation_string":"Mechanical Engineering Department, University of Brasilia, Brasilia, Brazil","institution_ids":["https://openalex.org/I150729083"]},{"raw_affiliation_string":"Mech. Eng. Dept., Univ. of Brasilia, Brasilia, Brazil","institution_ids":["https://openalex.org/I150729083"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5001625484","display_name":"Eug\u00eanio Fortaleza","orcid":"https://orcid.org/0000-0002-2640-4439"},"institutions":[{"id":"https://openalex.org/I150729083","display_name":"Universidade de Bras\u00edlia","ror":"https://ror.org/02xfp8v59","country_code":"BR","type":"education","lineage":["https://openalex.org/I150729083"]}],"countries":["BR"],"is_corresponding":false,"raw_author_name":"E. Fortaleza","raw_affiliation_strings":["Mechanical Engineering Department, University of Brasilia, Brasilia, Brazil","Mech. Eng. Dept., Univ. of Brasilia, Brasilia, Brazil"],"affiliations":[{"raw_affiliation_string":"Mechanical Engineering Department, University of Brasilia, Brasilia, Brazil","institution_ids":["https://openalex.org/I150729083"]},{"raw_affiliation_string":"Mech. Eng. Dept., Univ. of Brasilia, Brasilia, Brazil","institution_ids":["https://openalex.org/I150729083"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5078864941"],"corresponding_institution_ids":["https://openalex.org/I150729083"],"apc_list":null,"apc_paid":null,"fwci":1.741,"has_fulltext":false,"cited_by_count":7,"citation_normalized_percentile":{"value":0.85190027,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":96},"biblio":{"volume":"2008","issue":null,"first_page":"1","last_page":"4"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11192","display_name":"Underwater Vehicles and Communication Systems","score":0.9986000061035156,"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":0.9986000061035156,"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/T10531","display_name":"Advanced Vision and Imaging","score":0.9977999925613403,"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/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.996999979019165,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7218900918960571},{"id":"https://openalex.org/keywords/field-programmable-gate-array","display_name":"Field-programmable gate array","score":0.6165521740913391},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.5826144218444824},{"id":"https://openalex.org/keywords/background-subtraction","display_name":"Background subtraction","score":0.5744525790214539},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5623037219047546},{"id":"https://openalex.org/keywords/pixel","display_name":"Pixel","score":0.5270419716835022},{"id":"https://openalex.org/keywords/hardware-architecture","display_name":"Hardware architecture","score":0.5180482864379883},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.4912793040275574},{"id":"https://openalex.org/keywords/smart-camera","display_name":"Smart camera","score":0.47170233726501465},{"id":"https://openalex.org/keywords/stereo-imaging","display_name":"Stereo imaging","score":0.4617142677307129},{"id":"https://openalex.org/keywords/object-detection","display_name":"Object detection","score":0.458503782749176},{"id":"https://openalex.org/keywords/object","display_name":"Object (grammar)","score":0.4536813795566559},{"id":"https://openalex.org/keywords/frame-rate","display_name":"Frame rate","score":0.4384498596191406},{"id":"https://openalex.org/keywords/robotics","display_name":"Robotics","score":0.4336821138858795},{"id":"https://openalex.org/keywords/cmos-sensor","display_name":"CMOS sensor","score":0.42330318689346313},{"id":"https://openalex.org/keywords/stereopsis","display_name":"Stereopsis","score":0.41609305143356323},{"id":"https://openalex.org/keywords/machine-vision","display_name":"Machine vision","score":0.41274628043174744},{"id":"https://openalex.org/keywords/throughput","display_name":"Throughput","score":0.4111725389957428},{"id":"https://openalex.org/keywords/computer-hardware","display_name":"Computer hardware","score":0.40357282757759094},{"id":"https://openalex.org/keywords/software","display_name":"Software","score":0.3878101110458374},{"id":"https://openalex.org/keywords/wireless","display_name":"Wireless","score":0.09026739001274109}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7218900918960571},{"id":"https://openalex.org/C42935608","wikidata":"https://www.wikidata.org/wiki/Q190411","display_name":"Field-programmable gate array","level":2,"score":0.6165521740913391},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.5826144218444824},{"id":"https://openalex.org/C32653426","wikidata":"https://www.wikidata.org/wiki/Q3813641","display_name":"Background subtraction","level":3,"score":0.5744525790214539},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5623037219047546},{"id":"https://openalex.org/C160633673","wikidata":"https://www.wikidata.org/wiki/Q355198","display_name":"Pixel","level":2,"score":0.5270419716835022},{"id":"https://openalex.org/C65232700","wikidata":"https://www.wikidata.org/wiki/Q5656403","display_name":"Hardware architecture","level":3,"score":0.5180482864379883},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.4912793040275574},{"id":"https://openalex.org/C161334170","wikidata":"https://www.wikidata.org/wiki/Q1428778","display_name":"Smart camera","level":2,"score":0.47170233726501465},{"id":"https://openalex.org/C2776122016","wikidata":"https://www.wikidata.org/wiki/Q7611221","display_name":"Stereo imaging","level":2,"score":0.4617142677307129},{"id":"https://openalex.org/C2776151529","wikidata":"https://www.wikidata.org/wiki/Q3045304","display_name":"Object detection","level":3,"score":0.458503782749176},{"id":"https://openalex.org/C2781238097","wikidata":"https://www.wikidata.org/wiki/Q175026","display_name":"Object (grammar)","level":2,"score":0.4536813795566559},{"id":"https://openalex.org/C3261483","wikidata":"https://www.wikidata.org/wiki/Q119565","display_name":"Frame rate","level":2,"score":0.4384498596191406},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.4336821138858795},{"id":"https://openalex.org/C155512908","wikidata":"https://www.wikidata.org/wiki/Q210745","display_name":"CMOS sensor","level":3,"score":0.42330318689346313},{"id":"https://openalex.org/C68537008","wikidata":"https://www.wikidata.org/wiki/Q247932","display_name":"Stereopsis","level":2,"score":0.41609305143356323},{"id":"https://openalex.org/C5339829","wikidata":"https://www.wikidata.org/wiki/Q1425977","display_name":"Machine vision","level":2,"score":0.41274628043174744},{"id":"https://openalex.org/C157764524","wikidata":"https://www.wikidata.org/wiki/Q1383412","display_name":"Throughput","level":3,"score":0.4111725389957428},{"id":"https://openalex.org/C9390403","wikidata":"https://www.wikidata.org/wiki/Q3966","display_name":"Computer hardware","level":1,"score":0.40357282757759094},{"id":"https://openalex.org/C2777904410","wikidata":"https://www.wikidata.org/wiki/Q7397","display_name":"Software","level":2,"score":0.3878101110458374},{"id":"https://openalex.org/C555944384","wikidata":"https://www.wikidata.org/wiki/Q249","display_name":"Wireless","level":2,"score":0.09026739001274109},{"id":"https://openalex.org/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","level":1,"score":0.0},{"id":"https://openalex.org/C89600930","wikidata":"https://www.wikidata.org/wiki/Q1423946","display_name":"Segmentation","level":2,"score":0.0},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/lascas.2013.6519001","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lascas.2013.6519001","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2013 IEEE 4th Latin American Symposium on Circuits and Systems (LASCAS)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.5099999904632568,"id":"https://metadata.un.org/sdg/14","display_name":"Life below water"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":14,"referenced_works":["https://openalex.org/W1555614281","https://openalex.org/W1964164722","https://openalex.org/W1999700487","https://openalex.org/W2022523212","https://openalex.org/W2033123234","https://openalex.org/W2038112250","https://openalex.org/W2039548306","https://openalex.org/W2055467580","https://openalex.org/W2063694420","https://openalex.org/W2073576299","https://openalex.org/W2123340017","https://openalex.org/W2170803817","https://openalex.org/W3151697372","https://openalex.org/W6660188515"],"related_works":["https://openalex.org/W1882949579","https://openalex.org/W3081449971","https://openalex.org/W2966830791","https://openalex.org/W120335462","https://openalex.org/W4220855051","https://openalex.org/W3184026853","https://openalex.org/W3016358040","https://openalex.org/W2027497489","https://openalex.org/W2035767641","https://openalex.org/W2324887112"],"abstract_inverted_index":{"Underwater":[0],"robotics":[1],"tasks":[2],"are":[3,88,145],"considered":[4],"very":[5],"critical,":[6],"mainly":[7],"because":[8],"of":[9,19,31,122,138,173,196],"the":[10,29,55,58,61,92,96,139,152,156,159,162,169,171,188,206,212],"hazardous":[11],"environment.":[12],"The":[13,45,63,136,179],"embedded":[14,35],"systems":[15],"for":[16,34,79,107,231],"this":[17],"kind":[18],"robots":[20],"should":[21],"be":[22],"robust":[23],"and":[24,53,60,76,154,177,192,205,225],"fault-tolerant.":[25],"This":[26],"paper":[27],"describes":[28],"development":[30,70],"a":[32,41,69,73,77,85,101,111,148,194,222],"system":[33,46,189,214],"stereo":[36],"vision":[37],"in":[38,126,142],"real-time,":[39],"using":[40,110,129],"hardware/software":[42],"co-design":[43],"approach.":[44],"is":[47,118,124,215],"capable":[48],"to":[49,90,133,147,161,168,217],"detect":[50],"an":[51,116,226],"object":[52,59,117,140,160],"measure":[54],"distance":[56,157,219],"between":[57],"cameras.":[62,163],"platform":[64],"uses":[65],"two":[66],"CMOS":[67],"cameras,":[68],"board":[71],"with":[72],"low-cost":[74],"FPGA,":[75],"display":[78],"visualizing":[80],"images.":[81],"Each":[82],"camera":[83,100],"provides":[84],"pixel-clock,":[86],"which":[87,150],"used":[89,182],"synchronize":[91],"processing":[93],"architectures":[94],"inside":[95],"FPGA.":[97],"For":[98],"each":[99,143],"hardware":[102,131],"architecture":[103,132],"has":[104],"been":[105],"implemented":[106,213],"detecting":[108],"objects,":[109],"background":[112],"subtraction":[113],"algorithm.":[114],"Whenever":[115],"detected,":[119],"its":[120],"center":[121,141],"mass":[123],"calculated":[125],"both":[127,175],"images,":[128],"another":[130],"do":[134],"that.":[135],"coordinates":[137],"image":[144],"sent":[146],"soft-processor,":[149],"computes":[151],"disparity":[153],"determines":[155],"from":[158],"A":[164],"calibration":[165],"procedure":[166],"gives":[167],"soft-processor":[170],"capability":[172],"computing":[174],"disparities":[176],"distances.":[178],"synthesis":[180,204],"tool":[181],"(Altera":[183],"Quartus":[184],"II)":[185],"estimates":[186],"that":[187,211],"consumes":[190],"115.25mW":[191],"achieves":[193],"throughput":[195],"26.56":[197],"frames":[198],"per":[199],"second":[200],"(800\u00d7480":[201],"pixels).":[202],"These":[203],"operation":[207],"results":[208],"have":[209],"shown":[210],"useful":[216],"real-time":[218,232],"measurements":[220],"achieving":[221],"good":[223],"precision":[224],"adequate":[227],"throughput,":[228],"being":[229],"suitable":[230],"critical":[233],"operation.":[234]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2023,"cited_by_count":1},{"year":2021,"cited_by_count":2},{"year":2015,"cited_by_count":2},{"year":2014,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}