{"id":"https://openalex.org/W3191290880","doi":"https://doi.org/10.1109/lra.2021.3101881","title":"Leveraging Metadata in Representation Learning With Georeferenced Seafloor Imagery","display_name":"Leveraging Metadata in Representation Learning With Georeferenced Seafloor Imagery","publication_year":2021,"publication_date":"2021-08-04","ids":{"openalex":"https://openalex.org/W3191290880","doi":"https://doi.org/10.1109/lra.2021.3101881","mag":"3191290880"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2021.3101881","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2021.3101881","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.soton.ac.uk/450428/1/Leveraging_Metadata_in_Representation_Learning_for_Georeferenced_Seafloor_Imagery_Final_with_ieee_copyright.pdf","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5035668901","display_name":"Takaki Yamada","orcid":"https://orcid.org/0000-0002-5090-7239"},"institutions":[{"id":"https://openalex.org/I43439940","display_name":"University of Southampton","ror":"https://ror.org/01ryk1543","country_code":"GB","type":"education","lineage":["https://openalex.org/I43439940"]}],"countries":["GB"],"is_corresponding":true,"raw_author_name":"Takaki Yamada","raw_affiliation_strings":["Centre for In Situ and Remote Intelligent Sensing, Faculty of Engineering, and Physical Science, University of Southampton, Southampton, U.K"],"raw_orcid":"https://orcid.org/0000-0002-5090-7239","affiliations":[{"raw_affiliation_string":"Centre for In Situ and Remote Intelligent Sensing, Faculty of Engineering, and Physical Science, University of Southampton, Southampton, U.K","institution_ids":["https://openalex.org/I43439940"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5001921709","display_name":"Miquel Massot\u2010Campos","orcid":"https://orcid.org/0000-0002-1202-0362"},"institutions":[{"id":"https://openalex.org/I43439940","display_name":"University of Southampton","ror":"https://ror.org/01ryk1543","country_code":"GB","type":"education","lineage":["https://openalex.org/I43439940"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Miquel Massot-Campos","raw_affiliation_strings":["Centre for In Situ and Remote Intelligent Sensing, Faculty of Engineering, and Physical Science, University of Southampton, Southampton, U.K"],"raw_orcid":"https://orcid.org/0000-0002-1202-0362","affiliations":[{"raw_affiliation_string":"Centre for In Situ and Remote Intelligent Sensing, Faculty of Engineering, and Physical Science, University of Southampton, Southampton, U.K","institution_ids":["https://openalex.org/I43439940"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5046941095","display_name":"Adam Pr\u00fcgel\u2010Bennett","orcid":"https://orcid.org/0000-0002-1329-5077"},"institutions":[{"id":"https://openalex.org/I43439940","display_name":"University of Southampton","ror":"https://ror.org/01ryk1543","country_code":"GB","type":"education","lineage":["https://openalex.org/I43439940"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Adam Prugel-Bennett","raw_affiliation_strings":["Centre for In Situ and Remote Intelligent Sensing, Faculty of Engineering, and Physical Science, University of Southampton, Southampton, U.K"],"raw_orcid":"https://orcid.org/0000-0002-1329-5077","affiliations":[{"raw_affiliation_string":"Centre for In Situ and Remote Intelligent Sensing, Faculty of Engineering, and Physical Science, University of Southampton, Southampton, U.K","institution_ids":["https://openalex.org/I43439940"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5044131792","display_name":"Stefan B. Williams","orcid":"https://orcid.org/0000-0001-9416-5639"},"institutions":[{"id":"https://openalex.org/I129604602","display_name":"The University of Sydney","ror":"https://ror.org/0384j8v12","country_code":"AU","type":"education","lineage":["https://openalex.org/I129604602"]},{"id":"https://openalex.org/I4210127558","display_name":"Australian Centre for Robotic Vision","ror":"https://ror.org/02zv9xv82","country_code":"AU","type":"facility","lineage":["https://openalex.org/I4210127558"]}],"countries":["AU"],"is_corresponding":false,"raw_author_name":"Stefan B. Williams","raw_affiliation_strings":["Australian Centre for Field Robotics, The University of Sydney, Camperdown, NSW, Australia"],"raw_orcid":"https://orcid.org/0000-0001-9416-5639","affiliations":[{"raw_affiliation_string":"Australian Centre for Field Robotics, The University of Sydney, Camperdown, NSW, Australia","institution_ids":["https://openalex.org/I4210127558","https://openalex.org/I129604602"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5068908958","display_name":"Oscar Pizarro","orcid":"https://orcid.org/0000-0001-6612-2738"},"institutions":[{"id":"https://openalex.org/I129604602","display_name":"The University of Sydney","ror":"https://ror.org/0384j8v12","country_code":"AU","type":"education","lineage":["https://openalex.org/I129604602"]},{"id":"https://openalex.org/I4210127558","display_name":"Australian Centre for Robotic Vision","ror":"https://ror.org/02zv9xv82","country_code":"AU","type":"facility","lineage":["https://openalex.org/I4210127558"]}],"countries":["AU"],"is_corresponding":false,"raw_author_name":"Oscar Pizarro","raw_affiliation_strings":["Australian Centre for Field Robotics, The University of Sydney, Camperdown, NSW, Australia"],"raw_orcid":"https://orcid.org/0000-0001-6612-2738","affiliations":[{"raw_affiliation_string":"Australian Centre for Field Robotics, The University of Sydney, Camperdown, NSW, Australia","institution_ids":["https://openalex.org/I4210127558","https://openalex.org/I129604602"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5039161868","display_name":"Blair Thornton","orcid":"https://orcid.org/0000-0003-4492-622X"},"institutions":[{"id":"https://openalex.org/I43439940","display_name":"University of Southampton","ror":"https://ror.org/01ryk1543","country_code":"GB","type":"education","lineage":["https://openalex.org/I43439940"]},{"id":"https://openalex.org/I74801974","display_name":"The University of Tokyo","ror":"https://ror.org/057zh3y96","country_code":"JP","type":"education","lineage":["https://openalex.org/I74801974"]}],"countries":["GB","JP"],"is_corresponding":false,"raw_author_name":"Blair Thornton","raw_affiliation_strings":["Centre for In Situ and Remote Intelligent Sensing, Faculty of Engineering and Physical Science, University of Southampton, Southampton, U.K","Institute of Industrial Science, The University of Tokyo, Bunkyo City, Tokyo, Japan"],"raw_orcid":"https://orcid.org/0000-0003-4492-622X","affiliations":[{"raw_affiliation_string":"Centre for In Situ and Remote Intelligent Sensing, Faculty of Engineering and Physical Science, University of Southampton, Southampton, U.K","institution_ids":["https://openalex.org/I43439940"]},{"raw_affiliation_string":"Institute of Industrial Science, The University of Tokyo, Bunkyo City, Tokyo, Japan","institution_ids":["https://openalex.org/I74801974"]}]}],"institutions":[],"countries_distinct_count":3,"institutions_distinct_count":6,"corresponding_author_ids":["https://openalex.org/A5035668901"],"corresponding_institution_ids":["https://openalex.org/I43439940"],"apc_list":null,"apc_paid":null,"fwci":2.4766,"has_fulltext":true,"cited_by_count":15,"citation_normalized_percentile":{"value":0.8799138,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":94,"max":98},"biblio":{"volume":"6","issue":"4","first_page":"7815","last_page":"7822"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11698","display_name":"Underwater Acoustics Research","score":0.9997000098228455,"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"}},"topics":[{"id":"https://openalex.org/T11698","display_name":"Underwater Acoustics Research","score":0.9997000098228455,"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"}},{"id":"https://openalex.org/T11192","display_name":"Underwater Vehicles and Communication Systems","score":0.9991000294685364,"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/T11307","display_name":"Domain Adaptation and Few-Shot Learning","score":0.984000027179718,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/metadata","display_name":"Metadata","score":0.8515602350234985},{"id":"https://openalex.org/keywords/feature-learning","display_name":"Feature learning","score":0.6992084980010986},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6666885614395142},{"id":"https://openalex.org/keywords/leverage","display_name":"Leverage (statistics)","score":0.6083970665931702},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5998031497001648},{"id":"https://openalex.org/keywords/deep-learning","display_name":"Deep learning","score":0.5336436033248901},{"id":"https://openalex.org/keywords/representation","display_name":"Representation (politics)","score":0.5306828022003174},{"id":"https://openalex.org/keywords/convolutional-neural-network","display_name":"Convolutional neural network","score":0.5274196863174438},{"id":"https://openalex.org/keywords/underwater","display_name":"Underwater","score":0.4553927779197693},{"id":"https://openalex.org/keywords/geology","display_name":"Geology","score":0.25881582498550415},{"id":"https://openalex.org/keywords/world-wide-web","display_name":"World Wide Web","score":0.06553623080253601}],"concepts":[{"id":"https://openalex.org/C93518851","wikidata":"https://www.wikidata.org/wiki/Q180160","display_name":"Metadata","level":2,"score":0.8515602350234985},{"id":"https://openalex.org/C59404180","wikidata":"https://www.wikidata.org/wiki/Q17013334","display_name":"Feature learning","level":2,"score":0.6992084980010986},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6666885614395142},{"id":"https://openalex.org/C153083717","wikidata":"https://www.wikidata.org/wiki/Q6535263","display_name":"Leverage (statistics)","level":2,"score":0.6083970665931702},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5998031497001648},{"id":"https://openalex.org/C108583219","wikidata":"https://www.wikidata.org/wiki/Q197536","display_name":"Deep learning","level":2,"score":0.5336436033248901},{"id":"https://openalex.org/C2776359362","wikidata":"https://www.wikidata.org/wiki/Q2145286","display_name":"Representation (politics)","level":3,"score":0.5306828022003174},{"id":"https://openalex.org/C81363708","wikidata":"https://www.wikidata.org/wiki/Q17084460","display_name":"Convolutional neural network","level":2,"score":0.5274196863174438},{"id":"https://openalex.org/C98083399","wikidata":"https://www.wikidata.org/wiki/Q3246517","display_name":"Underwater","level":2,"score":0.4553927779197693},{"id":"https://openalex.org/C127313418","wikidata":"https://www.wikidata.org/wiki/Q1069","display_name":"Geology","level":0,"score":0.25881582498550415},{"id":"https://openalex.org/C136764020","wikidata":"https://www.wikidata.org/wiki/Q466","display_name":"World Wide Web","level":1,"score":0.06553623080253601},{"id":"https://openalex.org/C94625758","wikidata":"https://www.wikidata.org/wiki/Q7163","display_name":"Politics","level":2,"score":0.0},{"id":"https://openalex.org/C17744445","wikidata":"https://www.wikidata.org/wiki/Q36442","display_name":"Political science","level":0,"score":0.0},{"id":"https://openalex.org/C199539241","wikidata":"https://www.wikidata.org/wiki/Q7748","display_name":"Law","level":1,"score":0.0},{"id":"https://openalex.org/C111368507","wikidata":"https://www.wikidata.org/wiki/Q43518","display_name":"Oceanography","level":1,"score":0.0}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.1109/lra.2021.3101881","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2021.3101881","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.soton.ac.uk:450428","is_oa":true,"landing_page_url":"http://doi.org/10.1109/LRA.2021.3101881>).","pdf_url":"https://eprints.soton.ac.uk/450428/1/Leveraging_Metadata_in_Representation_Learning_for_Georeferenced_Seafloor_Imagery_Final_with_ieee_copyright.pdf","source":{"id":"https://openalex.org/S4306401020","display_name":"ePrints Soton (University of Southampton)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I43439940","host_organization_name":"University of Southampton","host_organization_lineage":["https://openalex.org/I43439940"],"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:eprints.soton.ac.uk:453541","is_oa":false,"landing_page_url":"https://eprints.soton.ac.uk/453541/","pdf_url":null,"source":{"id":"https://openalex.org/S4306401019","display_name":"ePrints Soton (University of Southampton)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I43439940","host_organization_name":"University of Southampton","host_organization_lineage":["https://openalex.org/I43439940"],"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":{"id":"pmh:oai:eprints.soton.ac.uk:450428","is_oa":true,"landing_page_url":"http://doi.org/10.1109/LRA.2021.3101881>).","pdf_url":"https://eprints.soton.ac.uk/450428/1/Leveraging_Metadata_in_Representation_Learning_for_Georeferenced_Seafloor_Imagery_Final_with_ieee_copyright.pdf","source":{"id":"https://openalex.org/S4306401020","display_name":"ePrints Soton (University of Southampton)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I43439940","host_organization_name":"University of Southampton","host_organization_lineage":["https://openalex.org/I43439940"],"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"},"sustainable_development_goals":[{"display_name":"Life below water","id":"https://metadata.un.org/sdg/14","score":0.6700000166893005}],"awards":[{"id":"https://openalex.org/G1854617813","display_name":null,"funder_award_id":"NE/T010592/1","funder_id":"https://openalex.org/F4320320022","funder_display_name":"Sight Research UK"},{"id":"https://openalex.org/G4086896350","display_name":null,"funder_award_id":"NE/T010592/1","funder_id":"https://openalex.org/F4320334631","funder_display_name":"Natural Environment Research Council"},{"id":"https://openalex.org/G648422776","display_name":null,"funder_award_id":"DP190103914","funder_id":"https://openalex.org/F4320334704","funder_display_name":"Australian Research Council"},{"id":"https://openalex.org/G8962490747","display_name":"BioCam - Mapping of Benthic Biology, Geology and Ecology with Essential Ocean Variables","funder_award_id":"NE/P020887/1","funder_id":"https://openalex.org/F4320334631","funder_display_name":"Natural Environment Research Council"}],"funders":[{"id":"https://openalex.org/F4320320022","display_name":"Sight Research UK","ror":"https://ror.org/03z2py885"},{"id":"https://openalex.org/F4320334631","display_name":"Natural Environment Research Council","ror":"https://ror.org/02b5d8509"},{"id":"https://openalex.org/F4320334704","display_name":"Australian Research Council","ror":"https://ror.org/05mmh0f86"}],"has_content":{"pdf":true,"grobid_xml":true},"content_urls":{"pdf":"https://content.openalex.org/works/W3191290880.pdf","grobid_xml":"https://content.openalex.org/works/W3191290880.grobid-xml"},"referenced_works_count":35,"referenced_works":["https://openalex.org/W81068503","https://openalex.org/W1522156302","https://openalex.org/W1614298861","https://openalex.org/W1969142081","https://openalex.org/W1984469841","https://openalex.org/W1992396639","https://openalex.org/W2011355556","https://openalex.org/W2073328162","https://openalex.org/W2097018403","https://openalex.org/W2097749765","https://openalex.org/W2128017662","https://openalex.org/W2163352848","https://openalex.org/W2163419695","https://openalex.org/W2163605009","https://openalex.org/W2187089797","https://openalex.org/W2194775991","https://openalex.org/W2250539671","https://openalex.org/W2576300543","https://openalex.org/W2783353659","https://openalex.org/W2950577311","https://openalex.org/W2954362426","https://openalex.org/W2964150011","https://openalex.org/W2964246847","https://openalex.org/W3023371261","https://openalex.org/W3024543081","https://openalex.org/W3031943955","https://openalex.org/W3091600481","https://openalex.org/W3104558707","https://openalex.org/W3165367534","https://openalex.org/W4232730838","https://openalex.org/W4366492635","https://openalex.org/W6636510571","https://openalex.org/W6674642818","https://openalex.org/W6684191040","https://openalex.org/W6796453337"],"related_works":["https://openalex.org/W2058118494","https://openalex.org/W2392768766","https://openalex.org/W2382021449","https://openalex.org/W2095118173","https://openalex.org/W2106424170","https://openalex.org/W1985426483","https://openalex.org/W2501188010","https://openalex.org/W4299935056","https://openalex.org/W2010935248","https://openalex.org/W2768810474"],"abstract_inverted_index":{"Camera":[0],"equipped":[1],"Autonomous":[2],"Underwater":[3],"Vehicles":[4],"(AUVs)":[5],"are":[6],"now":[7],"routinely":[8],"used":[9,111],"in":[10,69,77,115,135,176],"seafloor":[11,45,98],"surveys.":[12],"Obtaining":[13],"effective":[14,156],"representations":[15],"from":[16],"the":[17,83,105,120,126],"images":[18,46,70,99],"they":[19],"collect":[20],"can":[21,72,139,159],"enable":[22],"perception-aware":[23],"robotic":[24],"exploration":[25],"such":[26],"as":[27],"information-gain-guided":[28],"path":[29],"planning":[30],"and":[31,123,148],"target-driven":[32],"visual":[33],"navigation.":[34],"This":[35],"letter":[36],"develops":[37],"a":[38,89],"novel":[39],"self-supervised":[40,136],"representation":[41,137,157],"learning":[42,114,138,151,158],"method":[43,51],"for":[44,169],"collected":[47],"by":[48,101,144],"AUVs.":[49],"The":[50,80,109,129],"allows":[52],"deep-learning":[53],"convolutional":[54],"autoencoders":[55],"to":[56,62,112,146,162],"leverage":[57],"multiple":[58],"sources":[59],"of":[60,82,92,107,119,125,172],"metadata":[61,110,134],"regularise":[63,113],"their":[64,78],"learning,":[65],"prioritising":[66],"features":[67],"observed":[68,127],"that":[71,132],"be":[73,160],"correlated":[74],"with":[75],"patterns":[76],"metadata.":[79],"impact":[81],"proposed":[84],"regularisation":[85],"is":[86],"examined":[87],"on":[88],"dataset":[90,117],"consisting":[91],"more":[93],"than":[94],"30":[95],"k":[96],"colour":[97],"gathered":[100],"an":[102,177],"AUV":[103],"off":[104],"coast":[106],"Tasmania.":[108],"this":[116],"consists":[118],"horizontal":[121],"location":[122],"depth":[124],"seafloor.":[128],"results":[130],"show":[131,154],"including":[133],"increase":[140],"image":[141,167],"classification":[142],"accuracy":[143],"up":[145],"15%":[147],"never":[149],"degrades":[150],"performance.":[152],"We":[153],"how":[155],"applied":[161],"achieve":[163],"class":[164,174],"balanced":[165],"representative":[166],"identification":[168],"summarised":[170],"understanding":[171],"imbalanced":[173],"distributions":[175],"unsupervised":[178],"way.":[179]},"counts_by_year":[{"year":2025,"cited_by_count":2},{"year":2024,"cited_by_count":4},{"year":2023,"cited_by_count":4},{"year":2022,"cited_by_count":3},{"year":2021,"cited_by_count":2}],"updated_date":"2026-03-27T05:58:40.876381","created_date":"2025-10-10T00:00:00"}
