{"id":"https://openalex.org/W2047544089","doi":"https://doi.org/10.1109/ramech.2011.6070512","title":"A vision-based obstacle detection system for Unmanned Surface Vehicle","display_name":"A vision-based obstacle detection system for Unmanned Surface Vehicle","publication_year":2011,"publication_date":"2011-09-01","ids":{"openalex":"https://openalex.org/W2047544089","doi":"https://doi.org/10.1109/ramech.2011.6070512","mag":"2047544089"},"language":"en","primary_location":{"id":"doi:10.1109/ramech.2011.6070512","is_oa":false,"landing_page_url":"https://doi.org/10.1109/ramech.2011.6070512","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2011 IEEE 5th International Conference on Robotics, Automation and Mechatronics (RAM)","raw_type":"proceedings-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/A5100452641","display_name":"Han Wang","orcid":"https://orcid.org/0000-0001-5448-9903"},"institutions":[{"id":"https://openalex.org/I172675005","display_name":"Nanyang Technological University","ror":"https://ror.org/02e7b5302","country_code":"SG","type":"education","lineage":["https://openalex.org/I172675005"]}],"countries":["SG"],"is_corresponding":true,"raw_author_name":"Han Wang","raw_affiliation_strings":["School of Electrical & Electronic Engineering, Nanyang Technological University, Singapore","School of Electrical and Electronic Engineering , Nanyang Technological University , 50 Nanyang Avenue, Singapore, 639798"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Electrical & Electronic Engineering, Nanyang Technological University, Singapore","institution_ids":["https://openalex.org/I172675005"]},{"raw_affiliation_string":"School of Electrical and Electronic Engineering , Nanyang Technological University , 50 Nanyang Avenue, Singapore, 639798","institution_ids":["https://openalex.org/I172675005"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5015570416","display_name":"Wei Zhuo","orcid":"https://orcid.org/0000-0002-5788-1609"},"institutions":[{"id":"https://openalex.org/I172675005","display_name":"Nanyang Technological University","ror":"https://ror.org/02e7b5302","country_code":"SG","type":"education","lineage":["https://openalex.org/I172675005"]}],"countries":["SG"],"is_corresponding":false,"raw_author_name":"Zhuo Wei","raw_affiliation_strings":["School of Electrical & Electronic Engineering, Nanyang Technological University, Singapore","School of Electrical and Electronic Engineering , Nanyang Technological University , 50 Nanyang Avenue, Singapore, 639798"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Electrical & Electronic Engineering, Nanyang Technological University, Singapore","institution_ids":["https://openalex.org/I172675005"]},{"raw_affiliation_string":"School of Electrical and Electronic Engineering , Nanyang Technological University , 50 Nanyang Avenue, Singapore, 639798","institution_ids":["https://openalex.org/I172675005"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5067766273","display_name":"Sisong Wang","orcid":null},"institutions":[{"id":"https://openalex.org/I172675005","display_name":"Nanyang Technological University","ror":"https://ror.org/02e7b5302","country_code":"SG","type":"education","lineage":["https://openalex.org/I172675005"]}],"countries":["SG"],"is_corresponding":false,"raw_author_name":"Sisong Wang","raw_affiliation_strings":["School of Electrical & Electronic Engineering, Nanyang Technological University, Singapore","School of Electrical and Electronic Engineering , Nanyang Technological University , 50 Nanyang Avenue, Singapore, 639798"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Electrical & Electronic Engineering, Nanyang Technological University, Singapore","institution_ids":["https://openalex.org/I172675005"]},{"raw_affiliation_string":"School of Electrical and Electronic Engineering , Nanyang Technological University , 50 Nanyang Avenue, Singapore, 639798","institution_ids":["https://openalex.org/I172675005"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5001856632","display_name":"Chek Seng Ow","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Chek Seng Ow","raw_affiliation_strings":["Singapore Technologies Electronics Limited, Singapore","Singapore Technologies Electronics Limited, 24 Ang Mo Kio Street 65, Singapore 569061"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Singapore Technologies Electronics Limited, Singapore","institution_ids":[]},{"raw_affiliation_string":"Singapore Technologies Electronics Limited, 24 Ang Mo Kio Street 65, Singapore 569061","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5041335739","display_name":"Kah Tong Ho","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Kah Tong Ho","raw_affiliation_strings":["Singapore Technologies Electronics Limited, Singapore","Singapore Technologies Electronics Limited, 24 Ang Mo Kio Street 65, Singapore 569061"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Singapore Technologies Electronics Limited, Singapore","institution_ids":[]},{"raw_affiliation_string":"Singapore Technologies Electronics Limited, 24 Ang Mo Kio Street 65, Singapore 569061","institution_ids":[]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5060280906","display_name":"Benjamin Feng","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Benjamin Feng","raw_affiliation_strings":["Singapore Technologies Electronics Limited, Singapore","Singapore Technologies Electronics Limited, 24 Ang Mo Kio Street 65, Singapore 569061"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Singapore Technologies Electronics Limited, Singapore","institution_ids":[]},{"raw_affiliation_string":"Singapore Technologies Electronics Limited, 24 Ang Mo Kio Street 65, Singapore 569061","institution_ids":[]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":6,"corresponding_author_ids":["https://openalex.org/A5100452641"],"corresponding_institution_ids":["https://openalex.org/I172675005"],"apc_list":null,"apc_paid":null,"fwci":1.8315,"has_fulltext":false,"cited_by_count":82,"citation_normalized_percentile":{"value":0.87697987,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":94,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"364","last_page":"369"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11605","display_name":"Visual Attention and Saliency Detection","score":0.9959999918937683,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T11605","display_name":"Visual Attention and Saliency Detection","score":0.9959999918937683,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"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/T12389","display_name":"Infrared Target Detection Methodologies","score":0.9912999868392944,"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/T10331","display_name":"Video Surveillance and Tracking Methods","score":0.9822999835014343,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"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/obstacle","display_name":"Obstacle","score":0.9364452362060547},{"id":"https://openalex.org/keywords/unmanned-surface-vehicle","display_name":"Unmanned surface vehicle","score":0.8445737361907959},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.7094313502311707},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.6725448966026306},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6548300385475159},{"id":"https://openalex.org/keywords/stereopsis","display_name":"Stereopsis","score":0.6173031330108643},{"id":"https://openalex.org/keywords/monocular-vision","display_name":"Monocular vision","score":0.5976537466049194},{"id":"https://openalex.org/keywords/monocular","display_name":"Monocular","score":0.500272274017334},{"id":"https://openalex.org/keywords/range","display_name":"Range (aeronautics)","score":0.4466952979564667},{"id":"https://openalex.org/keywords/surface","display_name":"Surface (topology)","score":0.4138386845588684},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.19447460770606995},{"id":"https://openalex.org/keywords/marine-engineering","display_name":"Marine engineering","score":0.1258947253227234},{"id":"https://openalex.org/keywords/aerospace-engineering","display_name":"Aerospace engineering","score":0.10737696290016174},{"id":"https://openalex.org/keywords/geography","display_name":"Geography","score":0.08301001787185669},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.0730137825012207}],"concepts":[{"id":"https://openalex.org/C2776650193","wikidata":"https://www.wikidata.org/wiki/Q264661","display_name":"Obstacle","level":2,"score":0.9364452362060547},{"id":"https://openalex.org/C2987248590","wikidata":"https://www.wikidata.org/wiki/Q4419860","display_name":"Unmanned surface vehicle","level":2,"score":0.8445737361907959},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.7094313502311707},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6725448966026306},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6548300385475159},{"id":"https://openalex.org/C68537008","wikidata":"https://www.wikidata.org/wiki/Q247932","display_name":"Stereopsis","level":2,"score":0.6173031330108643},{"id":"https://openalex.org/C158829959","wikidata":"https://www.wikidata.org/wiki/Q1640606","display_name":"Monocular vision","level":2,"score":0.5976537466049194},{"id":"https://openalex.org/C65909025","wikidata":"https://www.wikidata.org/wiki/Q1945033","display_name":"Monocular","level":2,"score":0.500272274017334},{"id":"https://openalex.org/C204323151","wikidata":"https://www.wikidata.org/wiki/Q905424","display_name":"Range (aeronautics)","level":2,"score":0.4466952979564667},{"id":"https://openalex.org/C2776799497","wikidata":"https://www.wikidata.org/wiki/Q484298","display_name":"Surface (topology)","level":2,"score":0.4138386845588684},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.19447460770606995},{"id":"https://openalex.org/C199104240","wikidata":"https://www.wikidata.org/wiki/Q118291","display_name":"Marine engineering","level":1,"score":0.1258947253227234},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.10737696290016174},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.08301001787185669},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.0730137825012207},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","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}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/ramech.2011.6070512","is_oa":false,"landing_page_url":"https://doi.org/10.1109/ramech.2011.6070512","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2011 IEEE 5th International Conference on Robotics, Automation and Mechatronics (RAM)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Life below water","id":"https://metadata.un.org/sdg/14","score":0.8500000238418579}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":4,"referenced_works":["https://openalex.org/W2033819227","https://openalex.org/W2100470808","https://openalex.org/W2111308925","https://openalex.org/W3157685993"],"related_works":["https://openalex.org/W2033657964","https://openalex.org/W2013424615","https://openalex.org/W3213997683","https://openalex.org/W2995270189","https://openalex.org/W2087456682","https://openalex.org/W2375650349","https://openalex.org/W2064421702","https://openalex.org/W2017236227","https://openalex.org/W2047544089","https://openalex.org/W2398548367"],"abstract_inverted_index":{"This":[0],"paper":[1],"describes":[2],"a":[3],"vision-based":[4],"obstacle":[5,21,78],"detection":[6,22,79],"system":[7,37,80],"for":[8,55,81],"Unmanned":[9],"Surface":[10],"Vehicle":[11],"(USV)":[12],"towards":[13],"the":[14,24,30,36,39,48,70,77],"aim":[15],"of":[16,41],"real-time":[17],"and":[18,32,43,76,88],"high":[19,56],"performance":[20],"on":[23],"sea":[25],"surface.":[26],"By":[27],"using":[28],"both":[29],"monocular":[31],"stereo":[33],"vision":[34],"methods,":[35],"offers":[38],"capacity":[40],"detecting":[42],"locating":[44],"multiple":[45],"obstacles":[46],"in":[47,69],"range":[49],"from":[50],"30":[51],"to":[52,64,85],"100":[53],"meters":[54],"speed":[57],"USV":[58,82],"which":[59],"runs":[60],"at":[61],"speeds":[62],"up":[63],"12":[65],"knots.":[66],"Field":[67],"tests":[68],"real":[71],"scenes":[72],"have":[73],"been":[74],"taken":[75],"is":[83],"proven":[84],"provide":[86],"stable":[87],"satisfactory":[89],"performance.":[90]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2024,"cited_by_count":4},{"year":2023,"cited_by_count":4},{"year":2022,"cited_by_count":7},{"year":2021,"cited_by_count":8},{"year":2020,"cited_by_count":10},{"year":2019,"cited_by_count":13},{"year":2018,"cited_by_count":7},{"year":2017,"cited_by_count":7},{"year":2016,"cited_by_count":4},{"year":2015,"cited_by_count":10},{"year":2014,"cited_by_count":2},{"year":2013,"cited_by_count":3},{"year":2012,"cited_by_count":2}],"updated_date":"2026-05-07T13:39:58.223016","created_date":"2025-10-10T00:00:00"}