{"id":"https://openalex.org/W2587910283","doi":"https://doi.org/10.1109/lra.2017.2671415","title":"Online View Planning for Inspecting Unexplored Underwater Structures","display_name":"Online View Planning for Inspecting Unexplored Underwater Structures","publication_year":2017,"publication_date":"2017-02-17","ids":{"openalex":"https://openalex.org/W2587910283","doi":"https://doi.org/10.1109/lra.2017.2671415","mag":"2587910283"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2017.2671415","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2017.2671415","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766"],"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 Robotics and Automation Letters","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/A5065975878","display_name":"Eduard Vidal","orcid":"https://orcid.org/0000-0002-9524-9532"},"institutions":[{"id":"https://openalex.org/I251424209","display_name":"University of Girona","ror":"https://ror.org/01xdxns91","country_code":"ES","type":"education","lineage":["https://openalex.org/I251424209"]}],"countries":["ES"],"is_corresponding":true,"raw_author_name":"Eduard Vidal","raw_affiliation_strings":["Underwater Robotics Research Center, University of Girona, Girona, Spain"],"affiliations":[{"raw_affiliation_string":"Underwater Robotics Research Center, University of Girona, Girona, Spain","institution_ids":["https://openalex.org/I251424209"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101609628","display_name":"Juan David Hern\u00e1ndez","orcid":"https://orcid.org/0000-0002-9593-6789"},"institutions":[{"id":"https://openalex.org/I251424209","display_name":"University of Girona","ror":"https://ror.org/01xdxns91","country_code":"ES","type":"education","lineage":["https://openalex.org/I251424209"]}],"countries":["ES"],"is_corresponding":false,"raw_author_name":"Juan David Hernandez","raw_affiliation_strings":["Underwater Robotics Research Center, University of Girona, Girona, Spain"],"affiliations":[{"raw_affiliation_string":"Underwater Robotics Research Center, University of Girona, Girona, Spain","institution_ids":["https://openalex.org/I251424209"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5079785494","display_name":"Klemen Isteni\u010d","orcid":"https://orcid.org/0000-0003-1911-1483"},"institutions":[{"id":"https://openalex.org/I251424209","display_name":"University of Girona","ror":"https://ror.org/01xdxns91","country_code":"ES","type":"education","lineage":["https://openalex.org/I251424209"]}],"countries":["ES"],"is_corresponding":false,"raw_author_name":"Klemen Istenic","raw_affiliation_strings":["Underwater Robotics Research Center, University of Girona, Girona, Spain"],"affiliations":[{"raw_affiliation_string":"Underwater Robotics Research Center, University of Girona, Girona, Spain","institution_ids":["https://openalex.org/I251424209"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5018440853","display_name":"Marc Carreras","orcid":"https://orcid.org/0000-0003-3117-9691"},"institutions":[{"id":"https://openalex.org/I251424209","display_name":"University of Girona","ror":"https://ror.org/01xdxns91","country_code":"ES","type":"education","lineage":["https://openalex.org/I251424209"]}],"countries":["ES"],"is_corresponding":false,"raw_author_name":"Marc Carreras","raw_affiliation_strings":["Underwater Robotics Research Center, University of Girona, Girona, Spain"],"affiliations":[{"raw_affiliation_string":"Underwater Robotics Research Center, University of Girona, Girona, Spain","institution_ids":["https://openalex.org/I251424209"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5065975878"],"corresponding_institution_ids":["https://openalex.org/I251424209"],"apc_list":null,"apc_paid":null,"fwci":63.0164,"has_fulltext":false,"cited_by_count":31,"citation_normalized_percentile":{"value":0.99674102,"is_in_top_1_percent":true,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":99},"biblio":{"volume":"2","issue":"3","first_page":"1436","last_page":"1443"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9998000264167786,"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":0.9998000264167786,"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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9998000264167786,"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/T11192","display_name":"Underwater Vehicles and Communication Systems","score":0.9994999766349792,"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/underwater","display_name":"Underwater","score":0.8200401663780212},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7103279829025269},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.6465340852737427},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.6265676617622375},{"id":"https://openalex.org/keywords/voxel","display_name":"Voxel","score":0.6079905033111572},{"id":"https://openalex.org/keywords/sonar","display_name":"Sonar","score":0.6037153005599976},{"id":"https://openalex.org/keywords/occupancy-grid-mapping","display_name":"Occupancy grid mapping","score":0.5645883083343506},{"id":"https://openalex.org/keywords/profiling","display_name":"Profiling (computer programming)","score":0.559910774230957},{"id":"https://openalex.org/keywords/bounding-overwatch","display_name":"Bounding overwatch","score":0.5291764140129089},{"id":"https://openalex.org/keywords/minimum-bounding-box","display_name":"Minimum bounding box","score":0.4742892384529114},{"id":"https://openalex.org/keywords/grid-reference","display_name":"Grid reference","score":0.4568617343902588},{"id":"https://openalex.org/keywords/parameterized-complexity","display_name":"Parameterized complexity","score":0.42218077182769775},{"id":"https://openalex.org/keywords/grid","display_name":"Grid","score":0.41701966524124146},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.33694398403167725},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.30434465408325195},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.20462003350257874},{"id":"https://openalex.org/keywords/image","display_name":"Image (mathematics)","score":0.13594093918800354},{"id":"https://openalex.org/keywords/geography","display_name":"Geography","score":0.12910088896751404}],"concepts":[{"id":"https://openalex.org/C98083399","wikidata":"https://www.wikidata.org/wiki/Q3246517","display_name":"Underwater","level":2,"score":0.8200401663780212},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7103279829025269},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6465340852737427},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.6265676617622375},{"id":"https://openalex.org/C54170458","wikidata":"https://www.wikidata.org/wiki/Q663554","display_name":"Voxel","level":2,"score":0.6079905033111572},{"id":"https://openalex.org/C555745239","wikidata":"https://www.wikidata.org/wiki/Q133220","display_name":"Sonar","level":2,"score":0.6037153005599976},{"id":"https://openalex.org/C57077369","wikidata":"https://www.wikidata.org/wiki/Q7075747","display_name":"Occupancy grid mapping","level":4,"score":0.5645883083343506},{"id":"https://openalex.org/C187191949","wikidata":"https://www.wikidata.org/wiki/Q1138496","display_name":"Profiling (computer programming)","level":2,"score":0.559910774230957},{"id":"https://openalex.org/C63584917","wikidata":"https://www.wikidata.org/wiki/Q333286","display_name":"Bounding overwatch","level":2,"score":0.5291764140129089},{"id":"https://openalex.org/C147037132","wikidata":"https://www.wikidata.org/wiki/Q6865426","display_name":"Minimum bounding box","level":3,"score":0.4742892384529114},{"id":"https://openalex.org/C156172958","wikidata":"https://www.wikidata.org/wiki/Q3438407","display_name":"Grid reference","level":4,"score":0.4568617343902588},{"id":"https://openalex.org/C165464430","wikidata":"https://www.wikidata.org/wiki/Q1570441","display_name":"Parameterized complexity","level":2,"score":0.42218077182769775},{"id":"https://openalex.org/C187691185","wikidata":"https://www.wikidata.org/wiki/Q2020720","display_name":"Grid","level":2,"score":0.41701966524124146},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.33694398403167725},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.30434465408325195},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.20462003350257874},{"id":"https://openalex.org/C115961682","wikidata":"https://www.wikidata.org/wiki/Q860623","display_name":"Image (mathematics)","level":2,"score":0.13594093918800354},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.12910088896751404},{"id":"https://openalex.org/C13280743","wikidata":"https://www.wikidata.org/wiki/Q131089","display_name":"Geodesy","level":1,"score":0.0},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","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}],"mesh":[],"locations_count":5,"locations":[{"id":"doi:10.1109/lra.2017.2671415","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2017.2671415","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766"],"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 Robotics and Automation Letters","raw_type":"journal-article"},{"id":"pmh:oai:mdx.cat:10503/52561","is_oa":false,"landing_page_url":"https://doi.org/10.1109/LRA.2017.2671415","pdf_url":null,"source":{"id":"https://openalex.org/S4306400304","display_name":"Repositori UJI (Universitat Jaume I)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I10902133","host_organization_name":"Universitat Jaume I","host_organization_lineage":["https://openalex.org/I10902133"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"","raw_type":"info:eu-repo/semantics/article"},{"id":"pmh:oai:www.mdx.cat:10503/38741","is_oa":false,"landing_page_url":"http://hdl.handle.net/10256/14452","pdf_url":null,"source":{"id":"https://openalex.org/S4306400304","display_name":"Repositori UJI (Universitat Jaume I)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I10902133","host_organization_name":"Universitat Jaume I","host_organization_lineage":["https://openalex.org/I10902133"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"","raw_type":"info:eu-repo/semantics/article"},{"id":"pmh:oai:https://orca.cardiff.ac.uk:138531","is_oa":false,"landing_page_url":null,"pdf_url":null,"source":{"id":"https://openalex.org/S4306401195","display_name":"ORCA Online Research @Cardiff (Cardiff University)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I79510175","host_organization_name":"Cardiff University","host_organization_lineage":["https://openalex.org/I79510175"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"acceptedVersion","is_accepted":true,"is_published":false,"raw_source_name":null,"raw_type":"PeerReviewed"},{"id":"pmh:oai:http://orca-dev.cardiff.ac.uk:138531","is_oa":false,"landing_page_url":"https://orca.cardiff.ac.uk/id/eprint/138531/","pdf_url":null,"source":{"id":"https://openalex.org/S4306401195","display_name":"ORCA Online Research @Cardiff (Cardiff University)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I79510175","host_organization_name":"Cardiff University","host_organization_lineage":["https://openalex.org/I79510175"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"Article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/14","display_name":"Life below water","score":0.7699999809265137}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":22,"referenced_works":["https://openalex.org/W1535948966","https://openalex.org/W1645243482","https://openalex.org/W1963696504","https://openalex.org/W1974959176","https://openalex.org/W2064482780","https://openalex.org/W2096268286","https://openalex.org/W2110762409","https://openalex.org/W2113775403","https://openalex.org/W2133844819","https://openalex.org/W2146500120","https://openalex.org/W2147257224","https://openalex.org/W2161674001","https://openalex.org/W2171792626","https://openalex.org/W2179600242","https://openalex.org/W2409887213","https://openalex.org/W2492811885","https://openalex.org/W2502882642","https://openalex.org/W2561657681","https://openalex.org/W3026829485","https://openalex.org/W4253920039","https://openalex.org/W4255885994","https://openalex.org/W6636863190"],"related_works":["https://openalex.org/W2073809416","https://openalex.org/W2373788374","https://openalex.org/W2348800404","https://openalex.org/W3192357901","https://openalex.org/W3036286480","https://openalex.org/W2387360586","https://openalex.org/W4287027631","https://openalex.org/W2077648827","https://openalex.org/W2145228184","https://openalex.org/W2886675269"],"abstract_inverted_index":{"In":[0],"this":[1,151],"letter,":[2],"we":[3,189],"propose":[4],"a":[5,49,59,94,153],"method":[6],"to":[7,34,103,122,128,137,160,182],"automate":[8],"the":[9,30,54,73,82,129,139,142,166,177,184,194],"exploration":[10,51,55,124],"of":[11,165,176,186],"unknown":[12],"underwater":[13,17,38],"structures":[14],"for":[15],"autonomous":[16],"vehicles":[18],"(AUVs).":[19],"The":[20,75],"proposed":[21],"algorithm":[22,76],"iteratively":[23,80],"incorporates":[24],"exteroceptive":[25],"sensor":[26],"data":[27,89,175],"and":[28,53,67,168],"replans":[29],"next-best-view":[31],"in":[32,150,180],"order":[33,181],"fully":[35],"map":[36,164],"an":[37,162,169],"structure.":[39],"This":[40],"approach":[41],"does":[42],"not":[43],"require":[44],"prior":[45],"environment":[46],"information.":[47],"However,":[48],"safe":[50,133],"depth":[52],"area":[56],"(defined":[57],"by":[58,63,72,79],"bounding":[60],"box,":[61],"parameterized":[62],"its":[64],"size,":[65],"location,":[66],"resolution)":[68],"must":[69],"be":[70,109],"provided":[71],"user.":[74],"operates":[77],"online":[78],"conducting":[81],"following":[83],"three":[84],"tasks:":[85],"(1)":[86],"Profiling":[87],"sonar":[88],"are":[90,100,125,148],"first":[91],"incorporated":[92],"into":[93],"2-D":[95],"grid":[96],"map,":[97],"where":[98],"voxels":[99],"labeled":[101,110],"according":[102,127],"their":[104],"state":[105],"(a":[106],"voxel":[107],"can":[108],"as":[111],"empty,":[112],"unseen,":[113],"occluded,":[114],"occplane,":[115],"occupied,":[116],"or":[117],"viewed).":[118],"(2)":[119],"Useful":[120],"viewpoints":[121],"continue":[123],"generated":[126,136],"map.":[130],"(3)":[131],"A":[132],"path":[134],"is":[135,158],"guide":[138],"robot":[140],"toward":[141],"next":[143],"viewpoint":[144],"location.":[145],"Two":[146],"sensors":[147],"used":[149,159],"approach:":[152],"scanning":[154],"profiling":[155],"sonar,":[156],"which":[157,172],"build":[161],"occupancy":[163],"surroundings,":[167],"optical":[170,174],"camera,":[171],"acquires":[173],"scene.":[178],"Finally,":[179],"demonstrate":[183],"feasibility":[185],"our":[187],"approach,":[188],"provide":[190],"real-world":[191],"results":[192],"using":[193],"Sparus":[195],"II":[196],"AUV.":[197]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":2},{"year":2023,"cited_by_count":3},{"year":2022,"cited_by_count":1},{"year":2021,"cited_by_count":4},{"year":2020,"cited_by_count":8},{"year":2019,"cited_by_count":5},{"year":2018,"cited_by_count":7}],"updated_date":"2026-03-10T16:38:18.471706","created_date":"2025-10-10T00:00:00"}
