{"id":"https://openalex.org/W2998628093","doi":"https://doi.org/10.1109/lra.2019.2962357","title":"Multi-Sensor Mapping for Low Contrast, Quasi-Dynamic, Large Objects","display_name":"Multi-Sensor Mapping for Low Contrast, Quasi-Dynamic, Large Objects","publication_year":2019,"publication_date":"2019-12-25","ids":{"openalex":"https://openalex.org/W2998628093","doi":"https://doi.org/10.1109/lra.2019.2962357","mag":"2998628093"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2019.2962357","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2019.2962357","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/A5018394989","display_name":"Vikrant Shah","orcid":"https://orcid.org/0000-0002-2697-0801"},"institutions":[{"id":"https://openalex.org/I12912129","display_name":"Northeastern University","ror":"https://ror.org/04t5xt781","country_code":"US","type":"education","lineage":["https://openalex.org/I12912129"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Vikrant Shah","raw_affiliation_strings":["Department of Electrical and Computer Engineering, Northeastern University, Boston"],"raw_orcid":"https://orcid.org/0000-0002-2697-0801","affiliations":[{"raw_affiliation_string":"Department of Electrical and Computer Engineering, Northeastern University, Boston","institution_ids":["https://openalex.org/I12912129"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5075176998","display_name":"K. M. Schild","orcid":"https://orcid.org/0000-0003-3953-5355"},"institutions":[{"id":"https://openalex.org/I7947594","display_name":"University of Maine","ror":"https://ror.org/01adr0w49","country_code":"US","type":"education","lineage":["https://openalex.org/I2802397601","https://openalex.org/I7947594"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Kristin Schild","raw_affiliation_strings":["Climate Change Institute & School of Earth and Climate Sciences, University of Maine, Orono"],"raw_orcid":"https://orcid.org/0000-0003-3953-5355","affiliations":[{"raw_affiliation_string":"Climate Change Institute & School of Earth and Climate Sciences, University of Maine, Orono","institution_ids":["https://openalex.org/I7947594"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5069265422","display_name":"Margaret Lindeman","orcid":"https://orcid.org/0000-0003-1737-4861"},"institutions":[{"id":"https://openalex.org/I150209017","display_name":"Scripps Institution of Oceanography","ror":"https://ror.org/04v7hvq31","country_code":"US","type":"facility","lineage":["https://openalex.org/I150209017","https://openalex.org/I36258959"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Margaret Lindeman","raw_affiliation_strings":["Scripps Institution of Oceanography"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Scripps Institution of Oceanography","institution_ids":["https://openalex.org/I150209017"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5072228582","display_name":"D. Duncan","orcid":"https://orcid.org/0000-0003-4782-7104"},"institutions":[{"id":"https://openalex.org/I4403386791","display_name":"University of Texas Institute for Geophysics","ror":"https://ror.org/00fj73d18","country_code":null,"type":"education","lineage":["https://openalex.org/I4403386791"]},{"id":"https://openalex.org/I86519309","display_name":"The University of Texas at Austin","ror":"https://ror.org/00hj54h04","country_code":"US","type":"education","lineage":["https://openalex.org/I86519309"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Daniel Duncan","raw_affiliation_strings":["University of Texas Institute for Geophysics, Austin"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Texas Institute for Geophysics, Austin","institution_ids":["https://openalex.org/I86519309","https://openalex.org/I4403386791"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5084010536","display_name":"David A. Sutherland","orcid":"https://orcid.org/0000-0002-2843-8608"},"institutions":[{"id":"https://openalex.org/I181233156","display_name":"University of Oregon","ror":"https://ror.org/0293rh119","country_code":"US","type":"education","lineage":["https://openalex.org/I181233156"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"David Sutherland","raw_affiliation_strings":["Department of Earth Sciences, University of Oregon, Eugene"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Earth Sciences, University of Oregon, Eugene","institution_ids":["https://openalex.org/I181233156"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5001562140","display_name":"Claudia Cenedese","orcid":"https://orcid.org/0000-0002-2959-0468"},"institutions":[{"id":"https://openalex.org/I66958751","display_name":"Woods Hole Oceanographic Institution","ror":"https://ror.org/03zbnzt98","country_code":"US","type":"funder","lineage":["https://openalex.org/I66958751"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Claudia Cenedese","raw_affiliation_strings":["Woods Hole Oceanographic Institution"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Woods Hole Oceanographic Institution","institution_ids":["https://openalex.org/I66958751"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5003884562","display_name":"Fiammetta Straneo","orcid":"https://orcid.org/0000-0002-1735-2366"},"institutions":[{"id":"https://openalex.org/I150209017","display_name":"Scripps Institution of Oceanography","ror":"https://ror.org/04v7hvq31","country_code":"US","type":"facility","lineage":["https://openalex.org/I150209017","https://openalex.org/I36258959"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Fiammetta Straneo","raw_affiliation_strings":["Scripps Institution of Oceanography"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Scripps Institution of Oceanography","institution_ids":["https://openalex.org/I150209017"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5047246028","display_name":"Hanumant Singh","orcid":"https://orcid.org/0000-0002-4975-3244"},"institutions":[{"id":"https://openalex.org/I12912129","display_name":"Northeastern University","ror":"https://ror.org/04t5xt781","country_code":"US","type":"education","lineage":["https://openalex.org/I12912129"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Hanumant Singh","raw_affiliation_strings":["Department of Electrical and Computer Engineering, Northeastern University, Boston"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Electrical and Computer Engineering, Northeastern University, Boston","institution_ids":["https://openalex.org/I12912129"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":8,"corresponding_author_ids":["https://openalex.org/A5018394989"],"corresponding_institution_ids":["https://openalex.org/I12912129"],"apc_list":null,"apc_paid":null,"fwci":5.5142,"has_fulltext":false,"cited_by_count":4,"citation_normalized_percentile":{"value":0.96696352,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":90,"max":95},"biblio":{"volume":"5","issue":"2","first_page":"470","last_page":"476"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9987999796867371,"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":0.9987999796867371,"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/T10711","display_name":"Target Tracking and Data Fusion in Sensor Networks","score":0.9914000034332275,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"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":0.989799976348877,"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/iceberg","display_name":"Iceberg","score":0.9339540600776672},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6047242283821106},{"id":"https://openalex.org/keywords/global-positioning-system","display_name":"Global Positioning System","score":0.5995824337005615},{"id":"https://openalex.org/keywords/sonar","display_name":"Sonar","score":0.5892746448516846},{"id":"https://openalex.org/keywords/focus","display_name":"Focus (optics)","score":0.539136528968811},{"id":"https://openalex.org/keywords/remote-sensing","display_name":"Remote sensing","score":0.5342333316802979},{"id":"https://openalex.org/keywords/underwater","display_name":"Underwater","score":0.5144567489624023},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.48923635482788086},{"id":"https://openalex.org/keywords/exploit","display_name":"Exploit","score":0.4434441328048706},{"id":"https://openalex.org/keywords/navigation-system","display_name":"Navigation system","score":0.4368998110294342},{"id":"https://openalex.org/keywords/real-time-computing","display_name":"Real-time computing","score":0.40862587094306946},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3772287964820862},{"id":"https://openalex.org/keywords/geography","display_name":"Geography","score":0.24816852807998657},{"id":"https://openalex.org/keywords/telecommunications","display_name":"Telecommunications","score":0.12561404705047607},{"id":"https://openalex.org/keywords/sea-ice","display_name":"Sea ice","score":0.08902484178543091},{"id":"https://openalex.org/keywords/meteorology","display_name":"Meteorology","score":0.08509057760238647}],"concepts":[{"id":"https://openalex.org/C12481700","wikidata":"https://www.wikidata.org/wiki/Q47568","display_name":"Iceberg","level":3,"score":0.9339540600776672},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6047242283821106},{"id":"https://openalex.org/C60229501","wikidata":"https://www.wikidata.org/wiki/Q18822","display_name":"Global Positioning System","level":2,"score":0.5995824337005615},{"id":"https://openalex.org/C555745239","wikidata":"https://www.wikidata.org/wiki/Q133220","display_name":"Sonar","level":2,"score":0.5892746448516846},{"id":"https://openalex.org/C192209626","wikidata":"https://www.wikidata.org/wiki/Q190909","display_name":"Focus (optics)","level":2,"score":0.539136528968811},{"id":"https://openalex.org/C62649853","wikidata":"https://www.wikidata.org/wiki/Q199687","display_name":"Remote sensing","level":1,"score":0.5342333316802979},{"id":"https://openalex.org/C98083399","wikidata":"https://www.wikidata.org/wiki/Q3246517","display_name":"Underwater","level":2,"score":0.5144567489624023},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.48923635482788086},{"id":"https://openalex.org/C165696696","wikidata":"https://www.wikidata.org/wiki/Q11287","display_name":"Exploit","level":2,"score":0.4434441328048706},{"id":"https://openalex.org/C2777891301","wikidata":"https://www.wikidata.org/wiki/Q3475123","display_name":"Navigation system","level":2,"score":0.4368998110294342},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.40862587094306946},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3772287964820862},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.24816852807998657},{"id":"https://openalex.org/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","level":1,"score":0.12561404705047607},{"id":"https://openalex.org/C136894858","wikidata":"https://www.wikidata.org/wiki/Q213926","display_name":"Sea ice","level":2,"score":0.08902484178543091},{"id":"https://openalex.org/C153294291","wikidata":"https://www.wikidata.org/wiki/Q25261","display_name":"Meteorology","level":1,"score":0.08509057760238647},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C38652104","wikidata":"https://www.wikidata.org/wiki/Q3510521","display_name":"Computer security","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/C120665830","wikidata":"https://www.wikidata.org/wiki/Q14620","display_name":"Optics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/lra.2019.2962357","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2019.2962357","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"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.7400000095367432,"display_name":"Life below water","id":"https://metadata.un.org/sdg/14"}],"awards":[{"id":"https://openalex.org/G5917686607","display_name":null,"funder_award_id":"NSF/OCE-1657938","funder_id":"https://openalex.org/F4320306076","funder_display_name":"National Science Foundation"}],"funders":[{"id":"https://openalex.org/F4320306076","display_name":"National Science Foundation","ror":"https://ror.org/021nxhr62"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":27,"referenced_works":["https://openalex.org/W1514266814","https://openalex.org/W1942916330","https://openalex.org/W1956033670","https://openalex.org/W1978670797","https://openalex.org/W1992989752","https://openalex.org/W2001412060","https://openalex.org/W2011979009","https://openalex.org/W2041789919","https://openalex.org/W2058929992","https://openalex.org/W2094694151","https://openalex.org/W2117228865","https://openalex.org/W2134867446","https://openalex.org/W2136567909","https://openalex.org/W2151103935","https://openalex.org/W2171912471","https://openalex.org/W2319895531","https://openalex.org/W2461937780","https://openalex.org/W2543905437","https://openalex.org/W2557315372","https://openalex.org/W2765174047","https://openalex.org/W2775803942","https://openalex.org/W2793054951","https://openalex.org/W2950669648","https://openalex.org/W2963278988","https://openalex.org/W2986914694","https://openalex.org/W3124420883","https://openalex.org/W4244530917"],"related_works":["https://openalex.org/W17155033","https://openalex.org/W205239035","https://openalex.org/W3207760230","https://openalex.org/W1496222301","https://openalex.org/W1988952638","https://openalex.org/W2200307848","https://openalex.org/W1590307681","https://openalex.org/W2536018345","https://openalex.org/W4312814274","https://openalex.org/W2505159293"],"abstract_inverted_index":{"This":[0,75,104,131],"paper":[1,105],"proposes":[2],"a":[3,52,57,62],"systems":[4,172],"level":[5,173],"solution":[6,50,117],"for":[7],"addressing":[8],"the":[9,24,77,81,96,101,107,112,115,143,152],"problem":[10],"of":[11,27,56,114,154],"mapping":[12,44,174],"large":[13],"moving":[14],"targets":[15],"with":[16,66],"slow":[17],"but":[18],"complicated":[19],"dynamics.":[20],"Our":[21,49],"approach":[22,132],"utilizes":[23],"complementary":[25],"nature":[26],"multiple":[28],"sensing":[29],"modalities.":[30],"While":[31],"this":[32,160],"work":[33],"is":[34,133],"applicable":[35],"to":[36,79,85,99,110,120,151],"other":[37],"domains":[38],"we":[39,163],"focus":[40],"our":[41,167,171],"efforts":[42],"on":[43,136],"rotating":[45],"and":[46,118,125,169],"translating":[47],"icebergs.":[48],"involves":[51],"rigidly":[53],"coupled":[54],"combination":[55],"line":[58],"scan":[59,69],"sensor":[60,70],"-":[61,71],"subsurface":[63],"multibeam":[64,97],"sonar,":[65],"an":[67,72,127],"area":[68],"optical":[73,82],"camera.":[74],"allows":[76],"system":[78],"exploit":[80],"camera":[83],"information":[84],"perform":[86],"iceberg":[87,102,122,129,139,155],"relative":[88],"navigation":[89,116,124,168],"which":[90],"can":[91],"directly":[92],"be":[93],"used":[94],"by":[95],"sonar":[98],"map":[100],"underwater.":[103],"details":[106],"algorithm":[108],"required":[109],"compute":[111],"scale":[113],"corrections":[119],"find":[121],"centric":[123],"thus":[126,170],"accurate":[128],"reconstruction.":[130],"successfully":[134],"demonstrated":[135],"real":[137],"world":[138],"data":[140],"collected":[141],"during":[142,159],"2018":[144],"Sermilik":[145],"campaign":[146],"in":[147],"Eastern":[148],"Greenland.":[149],"Due":[150],"availability":[153],"mounted":[156],"GPS":[157],"observations":[158],"research":[161],"expedition":[162],"could":[164],"also":[165],"groundtruth":[166],"efforts.":[175]},"counts_by_year":[{"year":2024,"cited_by_count":1},{"year":2022,"cited_by_count":1},{"year":2021,"cited_by_count":2}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}