{"id":"https://openalex.org/W2966851241","doi":"https://doi.org/10.1109/lra.2019.2932579","title":"TIMTAM: Tunnel-Image Texturally Accorded Mosaic for Location Refinement of Underground Vehicles With a Single Camera","display_name":"TIMTAM: Tunnel-Image Texturally Accorded Mosaic for Location Refinement of Underground Vehicles With a Single Camera","publication_year":2019,"publication_date":"2019-08-01","ids":{"openalex":"https://openalex.org/W2966851241","doi":"https://doi.org/10.1109/lra.2019.2932579","mag":"2966851241"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2019.2932579","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2019.2932579","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":true,"oa_status":"green","oa_url":"https://eprints.qut.edu.au/131820/1/IROS_2019_final.pdf","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5101564391","display_name":"Fan Zeng","orcid":"https://orcid.org/0000-0002-2564-7260"},"institutions":[{"id":"https://openalex.org/I160993911","display_name":"Queensland University of Technology","ror":"https://ror.org/03pnv4752","country_code":"AU","type":"education","lineage":["https://openalex.org/I160993911"]}],"countries":["AU"],"is_corresponding":false,"raw_author_name":"Fan Zeng","raw_affiliation_strings":["Queensland University of Technology (QUT), Brisbane, QLD, Australia"],"raw_orcid":"https://orcid.org/0000-0002-2564-7260","affiliations":[{"raw_affiliation_string":"Queensland University of Technology (QUT), Brisbane, QLD, Australia","institution_ids":["https://openalex.org/I160993911"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5018831111","display_name":"Adam Jacobson","orcid":"https://orcid.org/0000-0002-8452-261X"},"institutions":[{"id":"https://openalex.org/I160993911","display_name":"Queensland University of Technology","ror":"https://ror.org/03pnv4752","country_code":"AU","type":"education","lineage":["https://openalex.org/I160993911"]}],"countries":["AU"],"is_corresponding":false,"raw_author_name":"Adam Jacobson","raw_affiliation_strings":["Queensland University of Technology (QUT), Brisbane, QLD, Australia"],"raw_orcid":"https://orcid.org/0000-0002-8452-261X","affiliations":[{"raw_affiliation_string":"Queensland University of Technology (QUT), Brisbane, QLD, Australia","institution_ids":["https://openalex.org/I160993911"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5007760236","display_name":"David Smith","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"David Smith","raw_affiliation_strings":["Caterpillar of Australia Pty Ltd, Brisbane, QLD, Australia"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Caterpillar of Australia Pty Ltd, Brisbane, QLD, Australia","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5060351688","display_name":"Nigel Boswell","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Nigel Boswell","raw_affiliation_strings":["Caterpillar of Australia Pty Ltd, Brisbane, QLD, Australia"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Caterpillar of Australia Pty Ltd, Brisbane, QLD, Australia","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5060070984","display_name":"Thierry Peynot","orcid":"https://orcid.org/0000-0001-8275-6538"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Thierry Peynot","raw_affiliation_strings":["Mining3, Brisbane, QLD, Australia"],"raw_orcid":"https://orcid.org/0000-0001-8275-6538","affiliations":[{"raw_affiliation_string":"Mining3, Brisbane, QLD, Australia","institution_ids":[]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5078340555","display_name":"Michael Milford","orcid":"https://orcid.org/0000-0002-5162-1793"},"institutions":[{"id":"https://openalex.org/I160993911","display_name":"Queensland University of Technology","ror":"https://ror.org/03pnv4752","country_code":"AU","type":"education","lineage":["https://openalex.org/I160993911"]}],"countries":["AU"],"is_corresponding":false,"raw_author_name":"Michael Milford","raw_affiliation_strings":["Queensland University of Technology (QUT), Brisbane, QLD, Australia"],"raw_orcid":"https://orcid.org/0000-0002-5162-1793","affiliations":[{"raw_affiliation_string":"Queensland University of Technology (QUT), Brisbane, QLD, Australia","institution_ids":["https://openalex.org/I160993911"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":6,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":12.8813,"has_fulltext":false,"cited_by_count":10,"citation_normalized_percentile":{"value":0.98071162,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":97},"biblio":{"volume":"4","issue":"4","first_page":"4362","last_page":"4369"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9998999834060669,"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":0.9998999834060669,"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/T11211","display_name":"3D Surveying and Cultural Heritage","score":0.9983000159263611,"subfield":{"id":"https://openalex.org/subfields/1907","display_name":"Geology"},"field":{"id":"https://openalex.org/fields/19","display_name":"Earth and Planetary Sciences"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10627","display_name":"Advanced Image and Video Retrieval Techniques","score":0.9959999918937683,"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":0.6712073087692261},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.6110594868659973},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.6068987250328064},{"id":"https://openalex.org/keywords/pixel","display_name":"Pixel","score":0.5812389850616455},{"id":"https://openalex.org/keywords/mosaic","display_name":"Mosaic","score":0.49970102310180664},{"id":"https://openalex.org/keywords/global-positioning-system","display_name":"Global Positioning System","score":0.45781201124191284},{"id":"https://openalex.org/keywords/range","display_name":"Range (aeronautics)","score":0.45673322677612305},{"id":"https://openalex.org/keywords/bundle-adjustment","display_name":"Bundle adjustment","score":0.44995951652526855},{"id":"https://openalex.org/keywords/metric","display_name":"Metric (unit)","score":0.43836653232574463},{"id":"https://openalex.org/keywords/image","display_name":"Image (mathematics)","score":0.38582316040992737},{"id":"https://openalex.org/keywords/geography","display_name":"Geography","score":0.137254536151886},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.12639638781547546}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6712073087692261},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6110594868659973},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.6068987250328064},{"id":"https://openalex.org/C160633673","wikidata":"https://www.wikidata.org/wiki/Q355198","display_name":"Pixel","level":2,"score":0.5812389850616455},{"id":"https://openalex.org/C110739175","wikidata":"https://www.wikidata.org/wiki/Q133067","display_name":"Mosaic","level":2,"score":0.49970102310180664},{"id":"https://openalex.org/C60229501","wikidata":"https://www.wikidata.org/wiki/Q18822","display_name":"Global Positioning System","level":2,"score":0.45781201124191284},{"id":"https://openalex.org/C204323151","wikidata":"https://www.wikidata.org/wiki/Q905424","display_name":"Range (aeronautics)","level":2,"score":0.45673322677612305},{"id":"https://openalex.org/C179458375","wikidata":"https://www.wikidata.org/wiki/Q1020763","display_name":"Bundle adjustment","level":3,"score":0.44995951652526855},{"id":"https://openalex.org/C176217482","wikidata":"https://www.wikidata.org/wiki/Q860554","display_name":"Metric (unit)","level":2,"score":0.43836653232574463},{"id":"https://openalex.org/C115961682","wikidata":"https://www.wikidata.org/wiki/Q860623","display_name":"Image (mathematics)","level":2,"score":0.38582316040992737},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.137254536151886},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.12639638781547546},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","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/C21547014","wikidata":"https://www.wikidata.org/wiki/Q1423657","display_name":"Operations management","level":1,"score":0.0},{"id":"https://openalex.org/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/lra.2019.2932579","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2019.2932579","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:eprints.qut.edu.au:131820","is_oa":true,"landing_page_url":null,"pdf_url":"https://eprints.qut.edu.au/131820/1/IROS_2019_final.pdf","source":{"id":"https://openalex.org/S4306402607","display_name":"QUT ePrints (Queensland University of Technology)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I160993911","host_organization_name":"Queensland University of Technology","host_organization_lineage":["https://openalex.org/I160993911"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"IEEE Robotics and Automation Letters","raw_type":"Contribution to Journal"}],"best_oa_location":{"id":"pmh:oai:eprints.qut.edu.au:131820","is_oa":true,"landing_page_url":null,"pdf_url":"https://eprints.qut.edu.au/131820/1/IROS_2019_final.pdf","source":{"id":"https://openalex.org/S4306402607","display_name":"QUT ePrints (Queensland University of Technology)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I160993911","host_organization_name":"Queensland University of Technology","host_organization_lineage":["https://openalex.org/I160993911"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"IEEE Robotics and Automation Letters","raw_type":"Contribution to Journal"},"sustainable_development_goals":[{"display_name":"Industry, innovation and infrastructure","id":"https://metadata.un.org/sdg/9","score":0.6700000166893005}],"awards":[],"funders":[{"id":"https://openalex.org/F4320307966","display_name":"Caterpillar","ror":"https://ror.org/01qhm7e49"},{"id":"https://openalex.org/F4320320983","display_name":"Queensland University of Technology","ror":"https://ror.org/03pnv4752"}],"has_content":{"grobid_xml":false,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W2966851241.pdf"},"referenced_works_count":29,"referenced_works":["https://openalex.org/W87590009","https://openalex.org/W612478963","https://openalex.org/W1512698229","https://openalex.org/W1577509784","https://openalex.org/W1602836056","https://openalex.org/W1612997784","https://openalex.org/W1661995841","https://openalex.org/W1967740178","https://openalex.org/W1982318371","https://openalex.org/W2108134361","https://openalex.org/W2110405746","https://openalex.org/W2115675575","https://openalex.org/W2144824356","https://openalex.org/W2159069738","https://openalex.org/W2175514610","https://openalex.org/W2274768194","https://openalex.org/W2293047233","https://openalex.org/W2312208644","https://openalex.org/W2338856263","https://openalex.org/W2411093439","https://openalex.org/W2565316591","https://openalex.org/W2766710466","https://openalex.org/W2799666902","https://openalex.org/W2911107863","https://openalex.org/W2935513105","https://openalex.org/W2968585849","https://openalex.org/W6618872416","https://openalex.org/W6750733742","https://openalex.org/W6761003757"],"related_works":["https://openalex.org/W2094118828","https://openalex.org/W2003315864","https://openalex.org/W2129875293","https://openalex.org/W2337415362","https://openalex.org/W4312857205","https://openalex.org/W121273120","https://openalex.org/W3098467253","https://openalex.org/W2740820121","https://openalex.org/W317572212","https://openalex.org/W2002009170"],"abstract_inverted_index":{"Many":[0],"mine-site":[1],"processes":[2],"such":[3],"as":[4],"vehicle":[5],"operation":[6],"require":[7],"localisation":[8,59,192],"systems":[9],"that":[10,171],"are":[11],"reliable,":[12],"robust":[13,128],"and":[14,133,186],"work":[15],"in":[16,60,118,137,162,190],"a":[17,48,65,89,105,115,150,163,188],"range":[18],"of":[19,92,178,181,195],"environmental":[20],"conditions.":[21],"In":[22,43],"underground":[23,61,138],"operations,":[24],"GPS":[25],"is":[26,97,126,146,156,160,176],"not":[27],"available:":[28],"solutions":[29,38],"instead":[30],"rely":[31],"on":[32,88],"static":[33],"infrastructure":[34],"or":[35],"expensive,":[36],"laser-based":[37],"with":[39,104,168],"limited":[40],"operational":[41],"capability.":[42],"this":[44],"letter":[45],"we":[46],"present":[47],"new":[49],"vision-based":[50],"technique,":[51],"Tunnel-IMage":[52],"Texturally-Accorded":[53],"Mosaic":[54],"(TIMTAM),":[55],"for":[56,110,153],"submetre,":[57],"infrastructure-free":[58],"mining":[62],"environments":[63,135],"using":[64,79],"single":[66],"camera.":[67],"Our":[68,122],"approach":[69,175],"stitches":[70],"upwardfacing":[71],"camera":[72],"images":[73],"to":[74,129,197],"form":[75],"planar":[76],"mosaic":[77,120],"maps,":[78],"locations":[80],"generated":[81],"by":[82,99],"the":[83,111,119,130,154,172,179,182],"coarse":[84,101,201],"mapping":[85],"engine":[86],"based":[87],"small":[90],"number":[91],"manually":[93],"anchored":[94],"locations.":[95],"Localisation":[96,144],"achieved":[98],"refining":[100],"location":[102,109,183],"estimations":[103],"best":[106],"fit":[107],"pixel":[108],"query":[112],"image":[113],"within":[114],"search":[116],"neighbourhood":[117],"map.":[121],"direct":[123],"pixel-based":[124],"method":[125],"more":[127],"challenging":[131],"illumination":[132],"surface-texture":[134],"encountered":[136],"mine":[139,166],"operations":[140],"than":[141],"feature-based":[142],"techniques.":[143],"refinement":[145],"only":[147],"triggered":[148],"when":[149],"confidence":[151,173],"threshold":[152,174],"estimate":[155,184],"exceeded.":[157],"The":[158],"system":[159],"evaluated":[161],"real":[164],"world":[165],"tunnel,":[167],"results":[169],"showing":[170],"predictive":[177],"quality":[180],"refinement,":[185],"achieves":[187],"reduction":[189],"mean":[191],"metric":[193],"error":[194],"up":[196],"~66%":[198],"from":[199],"simulated":[200],"results.":[202]},"counts_by_year":[{"year":2025,"cited_by_count":3},{"year":2022,"cited_by_count":1},{"year":2021,"cited_by_count":1},{"year":2020,"cited_by_count":4},{"year":2019,"cited_by_count":1}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}
