{"id":"https://openalex.org/W4411086226","doi":"https://doi.org/10.1109/lra.2025.3577520","title":"SPLASH-SegFormer Pipeline: A Transformer-Based Approach for High-Resolution and Low-Cost Laser Scanner Seafloor Mapping","display_name":"SPLASH-SegFormer Pipeline: A Transformer-Based Approach for High-Resolution and Low-Cost Laser Scanner Seafloor Mapping","publication_year":2025,"publication_date":"2025-06-06","ids":{"openalex":"https://openalex.org/W4411086226","doi":"https://doi.org/10.1109/lra.2025.3577520"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2025.3577520","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2025.3577520","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/A5117851879","display_name":"Javiera Fuentes-Gu\u00ed\u00f1ez","orcid":null},"institutions":[{"id":"https://openalex.org/I162148367","display_name":"Pontificia Universidad Cat\u00f3lica de Chile","ror":"https://ror.org/04teye511","country_code":"CL","type":"education","lineage":["https://openalex.org/I162148367"]}],"countries":["CL"],"is_corresponding":true,"raw_author_name":"Javiera Fuentes-Gu\u00ed\u00f1ez","raw_affiliation_strings":["Pontificia Universidad Catolica de Chile, Santiago, Chile"],"raw_orcid":"https://orcid.org/0009-0001-2139-1448","affiliations":[{"raw_affiliation_string":"Pontificia Universidad Catolica de Chile, Santiago, Chile","institution_ids":["https://openalex.org/I162148367"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5063518200","display_name":"Giancarlo Troni","orcid":"https://orcid.org/0000-0002-1517-8739"},"institutions":[{"id":"https://openalex.org/I1319261023","display_name":"Monterey Bay Aquarium Research Institute","ror":"https://ror.org/02nb3aq72","country_code":"US","type":"nonprofit","lineage":["https://openalex.org/I1319261023"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Giancarlo Troni","raw_affiliation_strings":["Monterey Bay Aquarium Research Institute, Moss Landing, CA, USA"],"raw_orcid":"https://orcid.org/0000-0002-1517-8739","affiliations":[{"raw_affiliation_string":"Monterey Bay Aquarium Research Institute, Moss Landing, CA, USA","institution_ids":["https://openalex.org/I1319261023"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5027811119","display_name":"Hans L\u00f6bel","orcid":"https://orcid.org/0000-0003-3514-9414"},"institutions":[{"id":"https://openalex.org/I162148367","display_name":"Pontificia Universidad Cat\u00f3lica de Chile","ror":"https://ror.org/04teye511","country_code":"CL","type":"education","lineage":["https://openalex.org/I162148367"]}],"countries":["CL"],"is_corresponding":false,"raw_author_name":"Hans Lobel","raw_affiliation_strings":["Pontificia Universidad Catolica de Chile, Santiago, Chile"],"raw_orcid":"https://orcid.org/0000-0003-3514-9414","affiliations":[{"raw_affiliation_string":"Pontificia Universidad Catolica de Chile, Santiago, Chile","institution_ids":["https://openalex.org/I162148367"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5117851879"],"corresponding_institution_ids":["https://openalex.org/I162148367"],"apc_list":null,"apc_paid":null,"fwci":0.7112,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":{"value":0.68894999,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":96,"max":98},"biblio":{"volume":"10","issue":"8","first_page":"7995","last_page":"8002"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11164","display_name":"Remote Sensing and LiDAR Applications","score":0.9970999956130981,"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"}},"topics":[{"id":"https://openalex.org/T11164","display_name":"Remote Sensing and LiDAR Applications","score":0.9970999956130981,"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":0.9945999979972839,"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/T11211","display_name":"3D Surveying and Cultural Heritage","score":0.988099992275238,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/splash","display_name":"Splash","score":0.7612297534942627},{"id":"https://openalex.org/keywords/scanner","display_name":"Scanner","score":0.5975885987281799},{"id":"https://openalex.org/keywords/seafloor-spreading","display_name":"Seafloor spreading","score":0.5297514200210571},{"id":"https://openalex.org/keywords/geology","display_name":"Geology","score":0.5219271183013916},{"id":"https://openalex.org/keywords/transformer","display_name":"Transformer","score":0.49130979180336},{"id":"https://openalex.org/keywords/laser-scanning","display_name":"Laser scanning","score":0.4539759159088135},{"id":"https://openalex.org/keywords/pipeline","display_name":"Pipeline (software)","score":0.43473899364471436},{"id":"https://openalex.org/keywords/marine-engineering","display_name":"Marine engineering","score":0.4062228202819824},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.34990817308425903},{"id":"https://openalex.org/keywords/environmental-science","display_name":"Environmental science","score":0.3292672634124756},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.3270372748374939},{"id":"https://openalex.org/keywords/laser","display_name":"Laser","score":0.2846674621105194},{"id":"https://openalex.org/keywords/optics","display_name":"Optics","score":0.168024480342865},{"id":"https://openalex.org/keywords/oceanography","display_name":"Oceanography","score":0.15842998027801514},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.15630373358726501},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.14312490820884705},{"id":"https://openalex.org/keywords/electrical-engineering","display_name":"Electrical engineering","score":0.1423090100288391},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.12063252925872803}],"concepts":[{"id":"https://openalex.org/C2780644530","wikidata":"https://www.wikidata.org/wiki/Q656906","display_name":"Splash","level":2,"score":0.7612297534942627},{"id":"https://openalex.org/C2779751349","wikidata":"https://www.wikidata.org/wiki/Q1474480","display_name":"Scanner","level":2,"score":0.5975885987281799},{"id":"https://openalex.org/C117485682","wikidata":"https://www.wikidata.org/wiki/Q215920","display_name":"Seafloor spreading","level":2,"score":0.5297514200210571},{"id":"https://openalex.org/C127313418","wikidata":"https://www.wikidata.org/wiki/Q1069","display_name":"Geology","level":0,"score":0.5219271183013916},{"id":"https://openalex.org/C66322947","wikidata":"https://www.wikidata.org/wiki/Q11658","display_name":"Transformer","level":3,"score":0.49130979180336},{"id":"https://openalex.org/C141349535","wikidata":"https://www.wikidata.org/wiki/Q1361664","display_name":"Laser scanning","level":3,"score":0.4539759159088135},{"id":"https://openalex.org/C43521106","wikidata":"https://www.wikidata.org/wiki/Q2165493","display_name":"Pipeline (software)","level":2,"score":0.43473899364471436},{"id":"https://openalex.org/C199104240","wikidata":"https://www.wikidata.org/wiki/Q118291","display_name":"Marine engineering","level":1,"score":0.4062228202819824},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.34990817308425903},{"id":"https://openalex.org/C39432304","wikidata":"https://www.wikidata.org/wiki/Q188847","display_name":"Environmental science","level":0,"score":0.3292672634124756},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3270372748374939},{"id":"https://openalex.org/C520434653","wikidata":"https://www.wikidata.org/wiki/Q38867","display_name":"Laser","level":2,"score":0.2846674621105194},{"id":"https://openalex.org/C120665830","wikidata":"https://www.wikidata.org/wiki/Q14620","display_name":"Optics","level":1,"score":0.168024480342865},{"id":"https://openalex.org/C111368507","wikidata":"https://www.wikidata.org/wiki/Q43518","display_name":"Oceanography","level":1,"score":0.15842998027801514},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.15630373358726501},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.14312490820884705},{"id":"https://openalex.org/C119599485","wikidata":"https://www.wikidata.org/wiki/Q43035","display_name":"Electrical engineering","level":1,"score":0.1423090100288391},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.12063252925872803},{"id":"https://openalex.org/C165801399","wikidata":"https://www.wikidata.org/wiki/Q25428","display_name":"Voltage","level":2,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/lra.2025.3577520","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2025.3577520","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":[{"id":"https://metadata.un.org/sdg/14","score":0.4699999988079071,"display_name":"Life below water"}],"awards":[],"funders":[{"id":"https://openalex.org/F4320306079","display_name":"David and Lucile Packard Foundation","ror":"https://ror.org/032atxq54"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":31,"referenced_works":["https://openalex.org/W239000285","https://openalex.org/W1901129140","https://openalex.org/W1978554866","https://openalex.org/W1987581727","https://openalex.org/W2001857426","https://openalex.org/W2018203869","https://openalex.org/W2049981393","https://openalex.org/W2133059825","https://openalex.org/W2138252993","https://openalex.org/W2156155065","https://openalex.org/W2167667767","https://openalex.org/W2207585345","https://openalex.org/W2217901923","https://openalex.org/W2560338001","https://openalex.org/W2786036844","https://openalex.org/W2945220899","https://openalex.org/W2963857746","https://openalex.org/W2990743177","https://openalex.org/W4210787840","https://openalex.org/W4292873063","https://openalex.org/W4362519261","https://openalex.org/W4384929231","https://openalex.org/W4386075742","https://openalex.org/W4389724975","https://openalex.org/W4392437623","https://openalex.org/W4399209426","https://openalex.org/W4401206086","https://openalex.org/W4401941222","https://openalex.org/W4403418012","https://openalex.org/W6747827861","https://openalex.org/W6797399245"],"related_works":["https://openalex.org/W897367340","https://openalex.org/W2946859545","https://openalex.org/W2056469872","https://openalex.org/W4252521546","https://openalex.org/W2183753145","https://openalex.org/W1486212407","https://openalex.org/W2055985996","https://openalex.org/W1976712134","https://openalex.org/W2374999813","https://openalex.org/W2374342360"],"abstract_inverted_index":{"High-resolution":[0],"seafloor":[1,212],"mapping":[2,213],"continues":[3],"to":[4,9,43,65,74,116,139],"be":[5],"challenging,":[6],"primarily":[7],"due":[8],"the":[10,75,80,132],"high":[11],"costs":[12],"and":[13,29,46,61,95,100,109,120,146,157,175,197,210],"complexity":[14],"of":[15,77,83,134],"traditional":[16,166],"sensors.":[17,217],"Laser":[18],"scanners":[19],"offer":[20],"a":[21,26,30,54,84,106,137,140,161],"more":[22],"affordable":[23],"alternative,":[24],"using":[25,97,214],"monocular":[27],"camera":[28,138],"laser":[31,67],"stripe.":[32],"While":[33],"this":[34,88,129],"method":[35,56,92],"provides":[36],"high-resolution":[37,211],"3D":[38,141,208],"reconstructions,":[39],"it":[40,115,199],"is":[41,93,126],"sensitive":[42],"underwater":[44,71,167,207],"lighting":[45],"surface":[47],"reflections.":[48],"This":[49,193],"work":[50],"introduces":[51],"SPLASH-SegFormer":[52,152],"Pipeline,":[53],"novel":[55],"that":[57,151],"leverages":[58],"attention":[59],"mechanisms":[60],"multi-level":[62],"feature":[63],"integration":[64],"enhance":[66],"stripe":[68],"segmentation":[69,155],"in":[70,105,173],"environments,":[72],"marking,":[73],"best":[76],"our":[78],"knowledge,":[79],"first":[81],"application":[82],"transformer-based":[85],"architecture":[86],"for":[87,201],"task.":[89],"The":[90,148],"proposed":[91],"trained":[94],"evaluated":[96,178],"both":[98],"simulated":[99],"field":[101],"experimental":[102],"data":[103],"collected":[104],"test":[107],"tank":[108],"during":[110],"multiple":[111],"sea":[112],"expeditions,":[113],"allowing":[114],"learn":[117],"from":[118,136],"diverse":[119],"challenging":[121],"environments.":[122],"A":[123],"complete":[124],"pipeline":[125],"constructed":[127],"around":[128],"network,":[130],"enabling":[131,205],"processing":[133],"images":[135],"point":[142],"cloud":[143],"reconstruction":[144,209],"quickly":[145],"accurately.":[147],"results":[149],"demonstrate":[150],"significantly":[153],"enhances":[154,195],"robustness":[156],"accuracy":[158],"while":[159,188],"maintaining":[160],"reasonable":[162],"speed.":[163],"It":[164],"outperforms":[165],"thresholding":[168],"by":[169],"over":[170,190],"64":[171],"points":[172,182],"mIoU":[174,184],"surpasses":[176],"all":[177],"methods,":[179],"achieving":[180],"6.6":[181],"higher":[183],"than":[185],"Stripe":[186],"Segmentor":[187],"running":[189],"65%":[191],"faster.":[192],"speed":[194],"efficiency":[196],"makes":[198],"ideal":[200],"real-time":[202],"onboard":[203],"applications,":[204],"millimeter-level":[206],"smaller,":[215],"cost-effective":[216]},"counts_by_year":[{"year":2026,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
