{"id":"https://openalex.org/W3001318802","doi":"https://doi.org/10.1109/robio49542.2019.8961744","title":"A Multibeam Underwater Terrain Modeling Algorithm Based on Echo Energy Distribution Gradient","display_name":"A Multibeam Underwater Terrain Modeling Algorithm Based on Echo Energy Distribution Gradient","publication_year":2019,"publication_date":"2019-12-01","ids":{"openalex":"https://openalex.org/W3001318802","doi":"https://doi.org/10.1109/robio49542.2019.8961744","mag":"3001318802"},"language":"en","primary_location":{"id":"doi:10.1109/robio49542.2019.8961744","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robio49542.2019.8961744","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2019 IEEE International Conference on Robotics and Biomimetics (ROBIO)","raw_type":"proceedings-article"},"type":"conference-paper","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/A5077816519","display_name":"Yipeng Tang","orcid":null},"institutions":[{"id":"https://openalex.org/I76569877","display_name":"Southeast University","ror":"https://ror.org/04ct4d772","country_code":"CN","type":"education","lineage":["https://openalex.org/I76569877"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yipeng Tang","raw_affiliation_strings":["Key Laboratory of Measurement and Control of Complex, Southeast University, Nanjing, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Key Laboratory of Measurement and Control of Complex, Southeast University, Nanjing, China","institution_ids":["https://openalex.org/I76569877"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5101808587","display_name":"Bo Zhou","orcid":"https://orcid.org/0000-0002-3908-7575"},"institutions":[{"id":"https://openalex.org/I76569877","display_name":"Southeast University","ror":"https://ror.org/04ct4d772","country_code":"CN","type":"education","lineage":["https://openalex.org/I76569877"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Bo Zhou","raw_affiliation_strings":["Key Laboratory of Measurement and Control of Complex, Southeast University, Nanjing, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Key Laboratory of Measurement and Control of Complex, Southeast University, Nanjing, China","institution_ids":["https://openalex.org/I76569877"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I76569877"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.32894352,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"2384","last_page":"2389"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11698","display_name":"Underwater Acoustics Research","score":0.9998999834060669,"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":0.9998999834060669,"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":0.9987999796867371,"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/T10711","display_name":"Target Tracking and Data Fusion in Sensor Networks","score":0.9889000058174133,"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/echo-sounding","display_name":"Echo sounding","score":0.8861476182937622},{"id":"https://openalex.org/keywords/underwater","display_name":"Underwater","score":0.6021929383277893},{"id":"https://openalex.org/keywords/terrain","display_name":"Terrain","score":0.5793688297271729},{"id":"https://openalex.org/keywords/echo","display_name":"Echo (communications protocol)","score":0.5783032774925232},{"id":"https://openalex.org/keywords/geology","display_name":"Geology","score":0.5608178973197937},{"id":"https://openalex.org/keywords/seabed","display_name":"Seabed","score":0.5434749722480774},{"id":"https://openalex.org/keywords/energy","display_name":"Energy (signal processing)","score":0.5265220403671265},{"id":"https://openalex.org/keywords/depth-sounding","display_name":"Depth sounding","score":0.5180276036262512},{"id":"https://openalex.org/keywords/acoustics","display_name":"Acoustics","score":0.4154013395309448},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4032776653766632},{"id":"https://openalex.org/keywords/remote-sensing","display_name":"Remote sensing","score":0.40108105540275574},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.39884790778160095},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.09949111938476562}],"concepts":[{"id":"https://openalex.org/C50254455","wikidata":"https://www.wikidata.org/wiki/Q1164536","display_name":"Echo sounding","level":2,"score":0.8861476182937622},{"id":"https://openalex.org/C98083399","wikidata":"https://www.wikidata.org/wiki/Q3246517","display_name":"Underwater","level":2,"score":0.6021929383277893},{"id":"https://openalex.org/C161840515","wikidata":"https://www.wikidata.org/wiki/Q186131","display_name":"Terrain","level":2,"score":0.5793688297271729},{"id":"https://openalex.org/C2779426996","wikidata":"https://www.wikidata.org/wiki/Q18389128","display_name":"Echo (communications protocol)","level":2,"score":0.5783032774925232},{"id":"https://openalex.org/C127313418","wikidata":"https://www.wikidata.org/wiki/Q1069","display_name":"Geology","level":0,"score":0.5608178973197937},{"id":"https://openalex.org/C33613203","wikidata":"https://www.wikidata.org/wiki/Q468469","display_name":"Seabed","level":2,"score":0.5434749722480774},{"id":"https://openalex.org/C186370098","wikidata":"https://www.wikidata.org/wiki/Q442787","display_name":"Energy (signal processing)","level":2,"score":0.5265220403671265},{"id":"https://openalex.org/C55510283","wikidata":"https://www.wikidata.org/wiki/Q1382947","display_name":"Depth sounding","level":2,"score":0.5180276036262512},{"id":"https://openalex.org/C24890656","wikidata":"https://www.wikidata.org/wiki/Q82811","display_name":"Acoustics","level":1,"score":0.4154013395309448},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4032776653766632},{"id":"https://openalex.org/C62649853","wikidata":"https://www.wikidata.org/wiki/Q199687","display_name":"Remote sensing","level":1,"score":0.40108105540275574},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.39884790778160095},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.09949111938476562},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.0},{"id":"https://openalex.org/C31258907","wikidata":"https://www.wikidata.org/wiki/Q1301371","display_name":"Computer network","level":1,"score":0.0},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C111368507","wikidata":"https://www.wikidata.org/wiki/Q43518","display_name":"Oceanography","level":1,"score":0.0},{"id":"https://openalex.org/C18903297","wikidata":"https://www.wikidata.org/wiki/Q7150","display_name":"Ecology","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/robio49542.2019.8961744","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robio49542.2019.8961744","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2019 IEEE International Conference on Robotics and Biomimetics (ROBIO)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.47999998927116394,"display_name":"Affordable and clean energy","id":"https://metadata.un.org/sdg/7"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":11,"referenced_works":["https://openalex.org/W1987680887","https://openalex.org/W2040811577","https://openalex.org/W2077097456","https://openalex.org/W2095375956","https://openalex.org/W2098790623","https://openalex.org/W2110395115","https://openalex.org/W2125097568","https://openalex.org/W2146504734","https://openalex.org/W2163267466","https://openalex.org/W2168653300","https://openalex.org/W4299945311"],"related_works":["https://openalex.org/W2757071965","https://openalex.org/W1978011577","https://openalex.org/W2981744881","https://openalex.org/W1569576348","https://openalex.org/W118146673","https://openalex.org/W2380918391","https://openalex.org/W2897199991","https://openalex.org/W2065599635","https://openalex.org/W2390998149","https://openalex.org/W2088487009"],"abstract_inverted_index":{"In":[0,38],"the":[1,24,27,30,46,55,86],"field":[2],"of":[3,14,26,29,88,93],"underwater":[4],"robot,":[5],"abundant":[6],"researches":[7],"have":[8],"been":[9],"carried":[10],"out":[11],"in":[12],"development":[13],"multibeam":[15,47],"echo-sounding":[16],"bottom":[17,58,65],"detection.":[18],"However,":[19],"most":[20],"works":[21],"focused":[22],"on":[23,45],"analysis":[25],"amplitude":[28],"reverberated":[31],"echo":[32,48],"which":[33],"had":[34],"its":[35],"own":[36],"limitation.":[37],"this":[39,61],"paper,":[40],"a":[41,73],"new":[42],"algorithm":[43,95],"based":[44],"energy":[49],"gradient":[50],"is":[51,78,96],"developed":[52],"to":[53,71,81],"map":[54],"shallow":[56],"water":[57],"topography.":[59],"On":[60],"basis,":[62],"all":[63],"single-frame":[64],"depth":[66],"curves":[67],"are":[68],"joined":[69],"together":[70],"form":[72],"seabed":[74],"surface.":[75],"Kalman":[76],"filter":[77],"further":[79],"used":[80],"remove":[82],"outliers":[83],"and":[84,101],"improve":[85],"reliability":[87],"surface":[89],"mapping.":[90],"The":[91],"effectiveness":[92],"our":[94],"validated":[97],"by":[98],"both":[99],"simulation":[100],"practical":[102],"experiment.":[103]},"counts_by_year":[],"updated_date":"2026-07-29T14:22:42.915294","created_date":"2025-10-10T00:00:00"}