{"id":"https://openalex.org/W4408100254","doi":"https://doi.org/10.1109/lra.2025.3547304","title":"Point Cloud Structural Similarity-Based Underwater Sonar Loop Detection","display_name":"Point Cloud Structural Similarity-Based Underwater Sonar Loop Detection","publication_year":2025,"publication_date":"2025-03-03","ids":{"openalex":"https://openalex.org/W4408100254","doi":"https://doi.org/10.1109/lra.2025.3547304"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2025.3547304","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2025.3547304","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/A5018061789","display_name":"Donghwi Jung","orcid":null},"institutions":[{"id":"https://openalex.org/I139264467","display_name":"Seoul National University","ror":"https://ror.org/04h9pn542","country_code":"KR","type":"education","lineage":["https://openalex.org/I139264467"]}],"countries":["KR"],"is_corresponding":true,"raw_author_name":"Donghwi Jung","raw_affiliation_strings":["Seoul National University, Seoul, South Korea"],"affiliations":[{"raw_affiliation_string":"Seoul National University, Seoul, South Korea","institution_ids":["https://openalex.org/I139264467"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5021296359","display_name":"Andres Pulido","orcid":"https://orcid.org/0000-0001-9745-2449"},"institutions":[{"id":"https://openalex.org/I33213144","display_name":"University of Florida","ror":"https://ror.org/02y3ad647","country_code":"US","type":"education","lineage":["https://openalex.org/I33213144"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Andres Pulido","raw_affiliation_strings":["University of Florida, Gainesville, FL, USA","University of Florida, Florida, USA"],"affiliations":[{"raw_affiliation_string":"University of Florida, Gainesville, FL, USA","institution_ids":["https://openalex.org/I33213144"]},{"raw_affiliation_string":"University of Florida, Florida, USA","institution_ids":["https://openalex.org/I33213144"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101863770","display_name":"Jane Shin","orcid":"https://orcid.org/0000-0002-5755-8385"},"institutions":[{"id":"https://openalex.org/I33213144","display_name":"University of Florida","ror":"https://ror.org/02y3ad647","country_code":"US","type":"education","lineage":["https://openalex.org/I33213144"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Jane Shin","raw_affiliation_strings":["University of Florida, Gainesville, FL, USA","University of Florida, Florida, USA"],"affiliations":[{"raw_affiliation_string":"University of Florida, Gainesville, FL, USA","institution_ids":["https://openalex.org/I33213144"]},{"raw_affiliation_string":"University of Florida, Florida, USA","institution_ids":["https://openalex.org/I33213144"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5101807134","display_name":"Seong-Woo Kim","orcid":"https://orcid.org/0000-0003-1633-573X"},"institutions":[{"id":"https://openalex.org/I139264467","display_name":"Seoul National University","ror":"https://ror.org/04h9pn542","country_code":"KR","type":"education","lineage":["https://openalex.org/I139264467"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Seong-Woo Kim","raw_affiliation_strings":["Seoul National University, Seoul, South Korea"],"affiliations":[{"raw_affiliation_string":"Seoul National University, Seoul, South Korea","institution_ids":["https://openalex.org/I139264467"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5018061789"],"corresponding_institution_ids":["https://openalex.org/I139264467"],"apc_list":null,"apc_paid":null,"fwci":15.0066,"has_fulltext":false,"cited_by_count":3,"citation_normalized_percentile":{"value":0.98047056,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":96,"max":97},"biblio":{"volume":"10","issue":"4","first_page":"3859","last_page":"3866"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9883000254631042,"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":0.9883000254631042,"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/T11164","display_name":"Remote Sensing and LiDAR Applications","score":0.987500011920929,"subfield":{"id":"https://openalex.org/subfields/2305","display_name":"Environmental Engineering"},"field":{"id":"https://openalex.org/fields/23","display_name":"Environmental Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11698","display_name":"Underwater Acoustics Research","score":0.967199981212616,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/underwater","display_name":"Underwater","score":0.7078344225883484},{"id":"https://openalex.org/keywords/sonar","display_name":"Sonar","score":0.6997805833816528},{"id":"https://openalex.org/keywords/point-cloud","display_name":"Point cloud","score":0.5957266092300415},{"id":"https://openalex.org/keywords/similarity","display_name":"Similarity (geometry)","score":0.5809943675994873},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5670269727706909},{"id":"https://openalex.org/keywords/loop","display_name":"Loop (graph theory)","score":0.42862385511398315},{"id":"https://openalex.org/keywords/cloud-computing","display_name":"Cloud computing","score":0.4273127019405365},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.42391374707221985},{"id":"https://openalex.org/keywords/pattern-recognition","display_name":"Pattern recognition (psychology)","score":0.40854543447494507},{"id":"https://openalex.org/keywords/data-mining","display_name":"Data mining","score":0.32039088010787964},{"id":"https://openalex.org/keywords/geology","display_name":"Geology","score":0.2680957019329071},{"id":"https://openalex.org/keywords/oceanography","display_name":"Oceanography","score":0.1246403157711029},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.11846384406089783},{"id":"https://openalex.org/keywords/image","display_name":"Image (mathematics)","score":0.049277424812316895}],"concepts":[{"id":"https://openalex.org/C98083399","wikidata":"https://www.wikidata.org/wiki/Q3246517","display_name":"Underwater","level":2,"score":0.7078344225883484},{"id":"https://openalex.org/C555745239","wikidata":"https://www.wikidata.org/wiki/Q133220","display_name":"Sonar","level":2,"score":0.6997805833816528},{"id":"https://openalex.org/C131979681","wikidata":"https://www.wikidata.org/wiki/Q1899648","display_name":"Point cloud","level":2,"score":0.5957266092300415},{"id":"https://openalex.org/C103278499","wikidata":"https://www.wikidata.org/wiki/Q254465","display_name":"Similarity (geometry)","level":3,"score":0.5809943675994873},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5670269727706909},{"id":"https://openalex.org/C184670325","wikidata":"https://www.wikidata.org/wiki/Q512604","display_name":"Loop (graph theory)","level":2,"score":0.42862385511398315},{"id":"https://openalex.org/C79974875","wikidata":"https://www.wikidata.org/wiki/Q483639","display_name":"Cloud computing","level":2,"score":0.4273127019405365},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.42391374707221985},{"id":"https://openalex.org/C153180895","wikidata":"https://www.wikidata.org/wiki/Q7148389","display_name":"Pattern recognition (psychology)","level":2,"score":0.40854543447494507},{"id":"https://openalex.org/C124101348","wikidata":"https://www.wikidata.org/wiki/Q172491","display_name":"Data mining","level":1,"score":0.32039088010787964},{"id":"https://openalex.org/C127313418","wikidata":"https://www.wikidata.org/wiki/Q1069","display_name":"Geology","level":0,"score":0.2680957019329071},{"id":"https://openalex.org/C111368507","wikidata":"https://www.wikidata.org/wiki/Q43518","display_name":"Oceanography","level":1,"score":0.1246403157711029},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.11846384406089783},{"id":"https://openalex.org/C115961682","wikidata":"https://www.wikidata.org/wiki/Q860623","display_name":"Image (mathematics)","level":2,"score":0.049277424812316895},{"id":"https://openalex.org/C114614502","wikidata":"https://www.wikidata.org/wiki/Q76592","display_name":"Combinatorics","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}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/lra.2025.3547304","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2025.3547304","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":0.6399999856948853,"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":31,"referenced_works":["https://openalex.org/W2118228858","https://openalex.org/W2151103935","https://openalex.org/W2160146756","https://openalex.org/W2178980909","https://openalex.org/W2296228853","https://openalex.org/W2296267969","https://openalex.org/W2339491896","https://openalex.org/W2567552762","https://openalex.org/W2607098679","https://openalex.org/W2758134310","https://openalex.org/W2763228906","https://openalex.org/W2909908358","https://openalex.org/W2910489334","https://openalex.org/W3003343875","https://openalex.org/W3015751022","https://openalex.org/W3035130434","https://openalex.org/W3094322624","https://openalex.org/W3094394107","https://openalex.org/W3157544508","https://openalex.org/W3205958358","https://openalex.org/W3206551498","https://openalex.org/W4205642684","https://openalex.org/W4312325565","https://openalex.org/W4323824580","https://openalex.org/W4383066341","https://openalex.org/W4383097620","https://openalex.org/W4383108755","https://openalex.org/W4390974151","https://openalex.org/W4400487953","https://openalex.org/W6747827861","https://openalex.org/W6869696747"],"related_works":["https://openalex.org/W3199220297","https://openalex.org/W2137769200","https://openalex.org/W2070821970","https://openalex.org/W2032962400","https://openalex.org/W2952608638","https://openalex.org/W1996172652","https://openalex.org/W2911323905","https://openalex.org/W56094667","https://openalex.org/W4249320331","https://openalex.org/W2350761455"],"abstract_inverted_index":{"In":[0],"this":[1],"letter,":[2],"we":[3],"propose":[4],"a":[5],"point":[6,80],"cloud":[7],"structural":[8,87],"similarity-based":[9],"loop":[10,24,113,152],"detection":[11,25,109,114,153],"method":[12,75,122,148],"for":[13,107],"underwater":[14,117,133],"Simultaneous":[15],"Localization":[16],"and":[17,32,41,84,94,110,134,141,159],"Mapping":[18],"using":[19,123],"sonar":[20,79],"sensors.":[21],"Existing":[22],"sonar-based":[23],"approaches":[26,161],"often":[27],"rely":[28],"on":[29,50,91],"2D":[30],"projection":[31,83],"keypoint":[33,108],"extraction,":[34],"which":[35],"can":[36],"lead":[37],"to":[38,67,156],"data":[39],"loss":[40],"poor":[42],"performance":[43,154],"in":[44],"feature-scarce":[45],"environments.":[46,69],"Additionally,":[47],"methods":[48],"based":[49,90],"neural":[51],"networks":[52],"or":[53,62,167],"Bag-of-Words":[54],"require":[55],"extensive":[56],"preprocessing,":[57],"such":[58],"as":[59],"model":[60],"training":[61,166],"vocabulary":[63],"creation,":[64],"reducing":[65],"adaptability":[66],"new":[68],"To":[70],"address":[71],"these":[72],"challenges,":[73],"our":[74,121,147],"directly":[76],"utilizes":[77],"3D":[78],"clouds":[81],"without":[82],"computes":[85],"point-wise":[86],"feature":[88],"maps":[89],"geometry,":[92],"normals,":[93],"curvature.":[95],"By":[96],"leveraging":[97],"rotation-invariant":[98],"similarity":[99],"comparisons,":[100],"the":[101,105,127,135,150],"proposed":[102],"approach":[103],"eliminates":[104],"need":[106],"ensures":[111],"robust":[112],"across":[115],"diverse":[116],"terrains.":[118],"We":[119],"validate":[120],"two":[124],"real-world":[125],"datasets:":[126],"Antarctica":[128],"dataset":[129,137],"obtained":[130],"from":[131,139],"deep":[132],"Seaward":[136],"collected":[138],"rivers":[140],"lakes.":[142],"Experimental":[143],"results":[144],"show":[145],"that":[146],"achieves":[149],"highest":[151],"compared":[155],"existing":[157],"keypoint-based":[158],"learning-based":[160],"while":[162],"requiring":[163],"no":[164],"additional":[165],"preprocessing.":[168]},"counts_by_year":[{"year":2025,"cited_by_count":3}],"updated_date":"2026-03-27T05:58:40.876381","created_date":"2025-10-10T00:00:00"}
