{"id":"https://openalex.org/W7131814596","doi":"https://doi.org/10.1109/lra.2026.3668623","title":"Deep Learning-Based Fourier Registration for Forward-Looking Sonar Odometry in Texture-Sparse Underwater Environments","display_name":"Deep Learning-Based Fourier Registration for Forward-Looking Sonar Odometry in Texture-Sparse Underwater Environments","publication_year":2026,"publication_date":"2026-02-27","ids":{"openalex":"https://openalex.org/W7131814596","doi":"https://doi.org/10.1109/lra.2026.3668623"},"language":null,"primary_location":{"id":"doi:10.1109/lra.2026.3668623","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2026.3668623","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":null,"display_name":"Peng Yao","orcid":"https://orcid.org/0000-0001-6129-045X"},"institutions":[{"id":"https://openalex.org/I59028903","display_name":"Ocean University of China","ror":"https://ror.org/04rdtx186","country_code":"CN","type":"education","lineage":["https://openalex.org/I59028903"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Peng Yao","raw_affiliation_strings":["College of Engineering, Ocean University of China, Qingdao, China"],"raw_orcid":"https://orcid.org/0000-0001-6129-045X","affiliations":[{"raw_affiliation_string":"College of Engineering, Ocean University of China, Qingdao, China","institution_ids":["https://openalex.org/I59028903"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5127149324","display_name":"Qiming Liu","orcid":null},"institutions":[{"id":"https://openalex.org/I59028903","display_name":"Ocean University of China","ror":"https://ror.org/04rdtx186","country_code":"CN","type":"education","lineage":["https://openalex.org/I59028903"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Qiming Liu","raw_affiliation_strings":["College of Engineering, Ocean University of China, Qingdao, China"],"raw_orcid":"https://orcid.org/0009-0005-0826-0821","affiliations":[{"raw_affiliation_string":"College of Engineering, Ocean University of China, Qingdao, China","institution_ids":["https://openalex.org/I59028903"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5069468921","display_name":"Yanan Sun","orcid":"https://orcid.org/0000-0003-4940-3743"},"institutions":[{"id":"https://openalex.org/I59028903","display_name":"Ocean University of China","ror":"https://ror.org/04rdtx186","country_code":"CN","type":"education","lineage":["https://openalex.org/I59028903"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yingming Sun","raw_affiliation_strings":["College of Engineering, Ocean University of China, Qingdao, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"College of Engineering, Ocean University of China, Qingdao, China","institution_ids":["https://openalex.org/I59028903"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Yalu Wang","orcid":"https://orcid.org/0009-0002-3407-5599"},"institutions":[{"id":"https://openalex.org/I59028903","display_name":"Ocean University of China","ror":"https://ror.org/04rdtx186","country_code":"CN","type":"education","lineage":["https://openalex.org/I59028903"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yalu Wang","raw_affiliation_strings":["College of Engineering, Ocean University of China, Qingdao, China"],"raw_orcid":"https://orcid.org/0009-0002-3407-5599","affiliations":[{"raw_affiliation_string":"College of Engineering, Ocean University of China, Qingdao, China","institution_ids":["https://openalex.org/I59028903"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5127477814","display_name":"Jiatao Yu","orcid":null},"institutions":[{"id":"https://openalex.org/I59028903","display_name":"Ocean University of China","ror":"https://ror.org/04rdtx186","country_code":"CN","type":"education","lineage":["https://openalex.org/I59028903"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jiatao Yu","raw_affiliation_strings":["College of Engineering, Ocean University of China, Qingdao, China"],"raw_orcid":"https://orcid.org/0009-0008-5157-9469","affiliations":[{"raw_affiliation_string":"College of Engineering, Ocean University of China, Qingdao, China","institution_ids":["https://openalex.org/I59028903"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.34151327,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":"11","issue":"4","first_page":"4817","last_page":"4824"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.27889999747276306,"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":0.27889999747276306,"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/T10868","display_name":"Soft Robotics and Applications","score":0.1234000027179718,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical 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/T11698","display_name":"Underwater Acoustics Research","score":0.09929999709129333,"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/odometry","display_name":"Odometry","score":0.6830000281333923},{"id":"https://openalex.org/keywords/sonar","display_name":"Sonar","score":0.6263999938964844},{"id":"https://openalex.org/keywords/translation","display_name":"Translation (biology)","score":0.6261000037193298},{"id":"https://openalex.org/keywords/rotation","display_name":"Rotation (mathematics)","score":0.529699981212616},{"id":"https://openalex.org/keywords/noise","display_name":"Noise (video)","score":0.5202999711036682},{"id":"https://openalex.org/keywords/feature","display_name":"Feature (linguistics)","score":0.513700008392334},{"id":"https://openalex.org/keywords/underwater","display_name":"Underwater","score":0.4602999985218048},{"id":"https://openalex.org/keywords/visual-odometry","display_name":"Visual odometry","score":0.4275999963283539},{"id":"https://openalex.org/keywords/feature-extraction","display_name":"Feature extraction","score":0.4205999970436096},{"id":"https://openalex.org/keywords/generalization","display_name":"Generalization","score":0.3887999951839447}],"concepts":[{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.8325999975204468},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.7071999907493591},{"id":"https://openalex.org/C49441653","wikidata":"https://www.wikidata.org/wiki/Q2014717","display_name":"Odometry","level":4,"score":0.6830000281333923},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6563000082969666},{"id":"https://openalex.org/C555745239","wikidata":"https://www.wikidata.org/wiki/Q133220","display_name":"Sonar","level":2,"score":0.6263999938964844},{"id":"https://openalex.org/C149364088","wikidata":"https://www.wikidata.org/wiki/Q185917","display_name":"Translation (biology)","level":4,"score":0.6261000037193298},{"id":"https://openalex.org/C74050887","wikidata":"https://www.wikidata.org/wiki/Q848368","display_name":"Rotation (mathematics)","level":2,"score":0.529699981212616},{"id":"https://openalex.org/C99498987","wikidata":"https://www.wikidata.org/wiki/Q2210247","display_name":"Noise (video)","level":3,"score":0.5202999711036682},{"id":"https://openalex.org/C2776401178","wikidata":"https://www.wikidata.org/wiki/Q12050496","display_name":"Feature (linguistics)","level":2,"score":0.513700008392334},{"id":"https://openalex.org/C98083399","wikidata":"https://www.wikidata.org/wiki/Q3246517","display_name":"Underwater","level":2,"score":0.4602999985218048},{"id":"https://openalex.org/C5799516","wikidata":"https://www.wikidata.org/wiki/Q4110915","display_name":"Visual odometry","level":3,"score":0.4275999963283539},{"id":"https://openalex.org/C52622490","wikidata":"https://www.wikidata.org/wiki/Q1026626","display_name":"Feature extraction","level":2,"score":0.4205999970436096},{"id":"https://openalex.org/C177148314","wikidata":"https://www.wikidata.org/wiki/Q170084","display_name":"Generalization","level":2,"score":0.3887999951839447},{"id":"https://openalex.org/C81363708","wikidata":"https://www.wikidata.org/wiki/Q17084460","display_name":"Convolutional neural network","level":2,"score":0.38839998841285706},{"id":"https://openalex.org/C12957241","wikidata":"https://www.wikidata.org/wiki/Q15903792","display_name":"GPS signals","level":4,"score":0.3813000023365021},{"id":"https://openalex.org/C108583219","wikidata":"https://www.wikidata.org/wiki/Q197536","display_name":"Deep learning","level":2,"score":0.3750999867916107},{"id":"https://openalex.org/C166704113","wikidata":"https://www.wikidata.org/wiki/Q861092","display_name":"Image registration","level":3,"score":0.37139999866485596},{"id":"https://openalex.org/C153180895","wikidata":"https://www.wikidata.org/wiki/Q7148389","display_name":"Pattern recognition (psychology)","level":2,"score":0.36410000920295715},{"id":"https://openalex.org/C102519508","wikidata":"https://www.wikidata.org/wiki/Q6520159","display_name":"Fourier transform","level":2,"score":0.3553999960422516},{"id":"https://openalex.org/C93509452","wikidata":"https://www.wikidata.org/wiki/Q7180943","display_name":"Phase correlation","level":5,"score":0.3472999930381775},{"id":"https://openalex.org/C50644808","wikidata":"https://www.wikidata.org/wiki/Q192776","display_name":"Artificial neural network","level":2,"score":0.32899999618530273},{"id":"https://openalex.org/C104267543","wikidata":"https://www.wikidata.org/wiki/Q208163","display_name":"Signal processing","level":3,"score":0.31459999084472656},{"id":"https://openalex.org/C157286648","wikidata":"https://www.wikidata.org/wiki/Q846780","display_name":"Kalman filter","level":2,"score":0.31349998712539673},{"id":"https://openalex.org/C200127275","wikidata":"https://www.wikidata.org/wiki/Q173853","display_name":"Quaternion","level":2,"score":0.3125},{"id":"https://openalex.org/C2779843651","wikidata":"https://www.wikidata.org/wiki/Q7390335","display_name":"SIGNAL (programming language)","level":2,"score":0.289900004863739},{"id":"https://openalex.org/C142575187","wikidata":"https://www.wikidata.org/wiki/Q3358290","display_name":"Pyramid (geometry)","level":2,"score":0.2842999994754791},{"id":"https://openalex.org/C163018871","wikidata":"https://www.wikidata.org/wiki/Q1302587","display_name":"Cross-correlation","level":2,"score":0.2721000015735626},{"id":"https://openalex.org/C52102323","wikidata":"https://www.wikidata.org/wiki/Q1671968","display_name":"Pose","level":2,"score":0.2705000042915344},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.26570001244544983},{"id":"https://openalex.org/C29265498","wikidata":"https://www.wikidata.org/wiki/Q7047719","display_name":"Noise measurement","level":3,"score":0.26460000872612},{"id":"https://openalex.org/C9417928","wikidata":"https://www.wikidata.org/wiki/Q1070689","display_name":"Image processing","level":3,"score":0.257099986076355},{"id":"https://openalex.org/C2779757391","wikidata":"https://www.wikidata.org/wiki/Q6002292","display_name":"Image translation","level":3,"score":0.2522999942302704},{"id":"https://openalex.org/C137184094","wikidata":"https://www.wikidata.org/wiki/Q6764300","display_name":"Marine mammals and sonar","level":3,"score":0.25119999051094055}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/lra.2026.3668623","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2026.3668623","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":[{"display_name":"Life below water","id":"https://metadata.un.org/sdg/14","score":0.6116545796394348}],"awards":[{"id":"https://openalex.org/G2832388536","display_name":null,"funder_award_id":"U24A20218","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"}],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":19,"referenced_works":["https://openalex.org/W1816460154","https://openalex.org/W1970168482","https://openalex.org/W2069257422","https://openalex.org/W2793723378","https://openalex.org/W2891194622","https://openalex.org/W2905458575","https://openalex.org/W2957049316","https://openalex.org/W3216828986","https://openalex.org/W4221167421","https://openalex.org/W4312565892","https://openalex.org/W4372347372","https://openalex.org/W4386902853","https://openalex.org/W4387682137","https://openalex.org/W4390692486","https://openalex.org/W4390873058","https://openalex.org/W4400881081","https://openalex.org/W4401417256","https://openalex.org/W4409326040","https://openalex.org/W4410492325"],"related_works":[],"abstract_inverted_index":{"Robust":[0],"forward-looking":[1],"sonar":[2],"(FLS)":[3],"odometry":[4,124],"is":[5,12],"critical":[6],"for":[7,85],"underwater":[8],"autonomous":[9],"navigation":[10],"but":[11],"hindered":[13],"by":[14],"severe":[15],"noise":[16,86],"and":[17,65,131],"sparse":[18],"textures":[19],"in":[20],"acoustic":[21],"imaging.":[22],"Traditional":[23],"Fourier-based":[24],"methods":[25],"are":[26],"susceptible":[27],"to":[28,38,72,94],"such":[29],"degradations,":[30],"while":[31],"end-to-end":[32,111],"deep":[33,47],"learning":[34,48],"approaches":[35],"often":[36],"struggle":[37],"learn":[39],"intrinsic":[40],"geometric":[41],"relationships.":[42,97],"We":[43],"propose":[44],"a":[45,90],"novel":[46],"framework":[49],"that":[50,119],"synergizes":[51],"classical":[52],"signal":[53],"processing":[54],"with":[55,89],"learnable":[56,103],"architectures.":[57],"Our":[58],"method":[59,121],"decomposes":[60],"pose":[61],"estimation":[62],"into":[63],"rotation":[64,79,99],"translation":[66,108],"stages,":[67],"utilizing":[68],"an":[69,101,110],"improved":[70,102],"Trans-UNet":[71],"enhance":[73],"image":[74],"feature":[75],"interaction.":[76],"Specifically,":[77],"the":[78,82],"network":[80],"leverages":[81],"Radon":[83],"transform":[84],"filtering,":[87],"combined":[88],"multi-angle":[91],"correlation":[92,105],"layer":[93],"determine":[95],"angular":[96],"Following":[98],"correction,":[100],"phase":[104],"module":[106],"estimates":[107],"within":[109],"trainable":[112],"system.":[113],"Experiments":[114],"on":[115,134],"public":[116],"datasets":[117,136],"demonstrate":[118],"our":[120],"achieves":[122],"outstanding":[123],"performance":[125],"even":[126],"without":[127],"loop":[128],"closure":[129],"detection,":[130],"zero-shot":[132],"evaluations":[133],"wetland":[135],"further":[137],"validate":[138],"its":[139],"strong":[140],"generalization":[141],"capability.":[142]},"counts_by_year":[],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2026-02-28T00:00:00"}
