{"id":"https://openalex.org/W3181199966","doi":"https://doi.org/10.1109/tcyb.2021.3085856","title":"WaSR\u2014A Water Segmentation and Refinement Maritime Obstacle Detection Network","display_name":"WaSR\u2014A Water Segmentation and Refinement Maritime Obstacle Detection Network","publication_year":2021,"publication_date":"2021-07-07","ids":{"openalex":"https://openalex.org/W3181199966","doi":"https://doi.org/10.1109/tcyb.2021.3085856","mag":"3181199966","pmid":"https://pubmed.ncbi.nlm.nih.gov/34232901"},"language":"en","primary_location":{"id":"doi:10.1109/tcyb.2021.3085856","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tcyb.2021.3085856","pdf_url":null,"source":{"id":"https://openalex.org/S4210191041","display_name":"IEEE Transactions on Cybernetics","issn_l":"2168-2267","issn":["2168-2267","2168-2275"],"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 Transactions on Cybernetics","raw_type":"journal-article"},"type":"article","indexed_in":["crossref","pubmed"],"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/A5018368394","display_name":"Borja Bovcon","orcid":"https://orcid.org/0000-0001-5132-4150"},"institutions":[{"id":"https://openalex.org/I153976015","display_name":"University of Ljubljana","ror":"https://ror.org/05njb9z20","country_code":"SI","type":"education","lineage":["https://openalex.org/I153976015"]}],"countries":["SI"],"is_corresponding":true,"raw_author_name":"Borja Bovcon","raw_affiliation_strings":["Faculty of Computer and Information Science, University of Ljubljana, Ljubljana, Slovenia"],"affiliations":[{"raw_affiliation_string":"Faculty of Computer and Information Science, University of Ljubljana, Ljubljana, Slovenia","institution_ids":["https://openalex.org/I153976015"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5001632955","display_name":"Matej Kristan","orcid":"https://orcid.org/0000-0002-4252-4342"},"institutions":[{"id":"https://openalex.org/I153976015","display_name":"University of Ljubljana","ror":"https://ror.org/05njb9z20","country_code":"SI","type":"education","lineage":["https://openalex.org/I153976015"]}],"countries":["SI"],"is_corresponding":false,"raw_author_name":"Matej Kristan","raw_affiliation_strings":["Faculty of Computer and Information Science, University of Ljubljana, Ljubljana, Slovenia"],"affiliations":[{"raw_affiliation_string":"Faculty of Computer and Information Science, University of Ljubljana, Ljubljana, Slovenia","institution_ids":["https://openalex.org/I153976015"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5018368394"],"corresponding_institution_ids":["https://openalex.org/I153976015"],"apc_list":null,"apc_paid":null,"fwci":9.8898,"has_fulltext":false,"cited_by_count":95,"citation_normalized_percentile":{"value":0.98920645,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":100},"biblio":{"volume":"52","issue":"12","first_page":"12661","last_page":"12674"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11192","display_name":"Underwater Vehicles and Communication Systems","score":0.9990000128746033,"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"}},"topics":[{"id":"https://openalex.org/T11192","display_name":"Underwater Vehicles and Communication Systems","score":0.9990000128746033,"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/T10036","display_name":"Advanced Neural Network Applications","score":0.9987000226974487,"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/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9976999759674072,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/segmentation","display_name":"Segmentation","score":0.8086134195327759},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7743161916732788},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.7087077498435974},{"id":"https://openalex.org/keywords/encoder","display_name":"Encoder","score":0.5380162596702576},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.5266879796981812},{"id":"https://openalex.org/keywords/inertial-measurement-unit","display_name":"Inertial measurement unit","score":0.5255110263824463},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.5008387565612793},{"id":"https://openalex.org/keywords/obstacle","display_name":"Obstacle","score":0.4817947745323181},{"id":"https://openalex.org/keywords/pattern-recognition","display_name":"Pattern recognition (psychology)","score":0.44121846556663513},{"id":"https://openalex.org/keywords/deep-learning","display_name":"Deep learning","score":0.4140089750289917},{"id":"https://openalex.org/keywords/geography","display_name":"Geography","score":0.07476171851158142}],"concepts":[{"id":"https://openalex.org/C89600930","wikidata":"https://www.wikidata.org/wiki/Q1423946","display_name":"Segmentation","level":2,"score":0.8086134195327759},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7743161916732788},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.7087077498435974},{"id":"https://openalex.org/C118505674","wikidata":"https://www.wikidata.org/wiki/Q42586063","display_name":"Encoder","level":2,"score":0.5380162596702576},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.5266879796981812},{"id":"https://openalex.org/C79061980","wikidata":"https://www.wikidata.org/wiki/Q941680","display_name":"Inertial measurement unit","level":2,"score":0.5255110263824463},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.5008387565612793},{"id":"https://openalex.org/C2776650193","wikidata":"https://www.wikidata.org/wiki/Q264661","display_name":"Obstacle","level":2,"score":0.4817947745323181},{"id":"https://openalex.org/C153180895","wikidata":"https://www.wikidata.org/wiki/Q7148389","display_name":"Pattern recognition (psychology)","level":2,"score":0.44121846556663513},{"id":"https://openalex.org/C108583219","wikidata":"https://www.wikidata.org/wiki/Q197536","display_name":"Deep learning","level":2,"score":0.4140089750289917},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.07476171851158142},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0},{"id":"https://openalex.org/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","level":2,"score":0.0},{"id":"https://openalex.org/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","level":1,"score":0.0},{"id":"https://openalex.org/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"score":0.0},{"id":"https://openalex.org/C166957645","wikidata":"https://www.wikidata.org/wiki/Q23498","display_name":"Archaeology","level":1,"score":0.0}],"mesh":[{"descriptor_ui":"D007091","descriptor_name":"Image Processing, Computer-Assisted","qualifier_ui":"Q000379","qualifier_name":"methods","is_major_topic":true},{"descriptor_ui":"D007091","descriptor_name":"Image Processing, Computer-Assisted","qualifier_ui":"Q000379","qualifier_name":"methods","is_major_topic":true},{"descriptor_ui":"D007091","descriptor_name":"Image Processing, Computer-Assisted","qualifier_ui":"Q000379","qualifier_name":"methods","is_major_topic":true},{"descriptor_ui":"D014867","descriptor_name":"Water","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D014867","descriptor_name":"Water","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D014867","descriptor_name":"Water","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D016571","descriptor_name":"Neural Networks, Computer","qualifier_ui":null,"qualifier_name":null,"is_major_topic":true},{"descriptor_ui":"D016571","descriptor_name":"Neural Networks, Computer","qualifier_ui":null,"qualifier_name":null,"is_major_topic":true},{"descriptor_ui":"D016571","descriptor_name":"Neural Networks, Computer","qualifier_ui":null,"qualifier_name":null,"is_major_topic":true}],"locations_count":2,"locations":[{"id":"doi:10.1109/tcyb.2021.3085856","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tcyb.2021.3085856","pdf_url":null,"source":{"id":"https://openalex.org/S4210191041","display_name":"IEEE Transactions on Cybernetics","issn_l":"2168-2267","issn":["2168-2267","2168-2275"],"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 Transactions on Cybernetics","raw_type":"journal-article"},{"id":"pmid:34232901","is_oa":false,"landing_page_url":"https://pubmed.ncbi.nlm.nih.gov/34232901","pdf_url":null,"source":{"id":"https://openalex.org/S4306525036","display_name":"PubMed","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1299303238","host_organization_name":"National Institutes of Health","host_organization_lineage":["https://openalex.org/I1299303238"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE transactions on cybernetics","raw_type":null}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.8700000047683716,"id":"https://metadata.un.org/sdg/14","display_name":"Life below water"}],"awards":[{"id":"https://openalex.org/G2611696602","display_name":null,"funder_award_id":"J2-8175","funder_id":"https://openalex.org/F4320322554","funder_display_name":"Javna Agencija za Raziskovalno Dejavnost RS"},{"id":"https://openalex.org/G6894183453","display_name":null,"funder_award_id":"P2-0095","funder_id":"https://openalex.org/F4320322554","funder_display_name":"Javna Agencija za Raziskovalno Dejavnost RS"},{"id":"https://openalex.org/G7307763777","display_name":null,"funder_award_id":"P2-0214","funder_id":"https://openalex.org/F4320322554","funder_display_name":"Javna Agencija za Raziskovalno Dejavnost RS"}],"funders":[{"id":"https://openalex.org/F4320322554","display_name":"Javna Agencija za Raziskovalno Dejavnost RS","ror":"https://ror.org/059bp8k51"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":62,"referenced_works":["https://openalex.org/W639708223","https://openalex.org/W1533861849","https://openalex.org/W1578340596","https://openalex.org/W1901129140","https://openalex.org/W1977934833","https://openalex.org/W1995009551","https://openalex.org/W2044328399","https://openalex.org/W2108598243","https://openalex.org/W2125175513","https://openalex.org/W2127369486","https://openalex.org/W2144513243","https://openalex.org/W2152529932","https://openalex.org/W2157929363","https://openalex.org/W2163605009","https://openalex.org/W2187089797","https://openalex.org/W2194775991","https://openalex.org/W2344666353","https://openalex.org/W2412782625","https://openalex.org/W2476422535","https://openalex.org/W2536397232","https://openalex.org/W2552331162","https://openalex.org/W2559597482","https://openalex.org/W2560023338","https://openalex.org/W2563705555","https://openalex.org/W2592939477","https://openalex.org/W2613332842","https://openalex.org/W2787889241","https://openalex.org/W2799990732","https://openalex.org/W2811030020","https://openalex.org/W2886847316","https://openalex.org/W2886934227","https://openalex.org/W2897713584","https://openalex.org/W2910194729","https://openalex.org/W2911993024","https://openalex.org/W2924540890","https://openalex.org/W2939571759","https://openalex.org/W2942504704","https://openalex.org/W2945719496","https://openalex.org/W2954996726","https://openalex.org/W2955923365","https://openalex.org/W2963351448","https://openalex.org/W2963418739","https://openalex.org/W2963446712","https://openalex.org/W2963881378","https://openalex.org/W2970974096","https://openalex.org/W2986661843","https://openalex.org/W2987556088","https://openalex.org/W2990230838","https://openalex.org/W2994736168","https://openalex.org/W3000500950","https://openalex.org/W3003522438","https://openalex.org/W3090912915","https://openalex.org/W4293406525","https://openalex.org/W4297775537","https://openalex.org/W6620707391","https://openalex.org/W6631943919","https://openalex.org/W6639824700","https://openalex.org/W6681151457","https://openalex.org/W6684191040","https://openalex.org/W6730342312","https://openalex.org/W6730845260","https://openalex.org/W6760866495"],"related_works":["https://openalex.org/W2794103424","https://openalex.org/W4245435724","https://openalex.org/W3028317537","https://openalex.org/W2389515972","https://openalex.org/W1996530509","https://openalex.org/W2376554934","https://openalex.org/W2077790809","https://openalex.org/W2906246018","https://openalex.org/W3043079964","https://openalex.org/W4315434538"],"abstract_inverted_index":{"Obstacle":[0],"detection":[1],"using":[2],"semantic":[3,130,140],"segmentation":[4,15,53,106],"has":[5],"become":[6],"an":[7,25,162],"established":[8],"approach":[9],"in":[10,24,36,112,159,164,183,208],"autonomous":[11],"vehicles.":[12],"However,":[13],"existing":[14],"methods,":[16],"primarily":[17],"developed":[18],"for":[19,60,129],"ground":[20],"vehicles,":[21],"are":[22],"inadequate":[23],"aquatic":[26],"environment":[27,63],"as":[28,119],"they":[29],"produce":[30],"many":[31],"false":[32],"positive":[33],"(FP)":[34],"detections":[35],"the":[37,61,78,95,105,109,113,122,136,144,147,174,178,200,203],"presence":[38,114],"of":[39,80,108,115,138,146,177,202],"water":[40,52,110],"reflections":[41],"and":[42,54,154,161,198],"wakes.":[43],"We":[44,149],"propose":[45],"a":[46,51,85,125,156,187,212],"novel":[47,86,126],"deep":[48,69],"encoder-decoder":[49],"architecture,":[50],"refinement":[55],"(WaSR)":[56],"network,":[57],"specifically":[58],"designed":[59],"marine":[62],"to":[64,134,142],"address":[65],"these":[66],"issues.":[67],"A":[68],"encoder":[70],"based":[71],"on":[72,121,186,211],"ResNet101":[73],"with":[74,91],"atrous":[75],"convolutions":[76],"enables":[77],"extraction":[79],"rich":[81],"visual":[82,116],"features,":[83],"while":[84],"decoder":[87],"gradually":[88],"fuses":[89],"them":[90],"inertial":[92,96,101],"information":[93,102],"from":[94],"measurement":[97],"unit":[98],"(IMU).":[99],"The":[100],"greatly":[103],"improves":[104],"accuracy":[107],"component":[111],"ambiguities,":[117],"such":[118],"fog":[120],"horizon.":[123],"Furthermore,":[124],"loss":[127,152],"function":[128],"separation":[131,137],"is":[132],"proposed":[133],"enforce":[135],"different":[139,151],"components":[141],"increase":[143,163],"robustness":[145],"segmentation.":[148],"investigate":[150],"variants":[153],"observe":[155],"significant":[157],"reduction":[158],"FPs":[160],"true":[165],"positives":[166],"(TPs).":[167],"Experimental":[168],"results":[169],"show":[170],"that":[171],"WaSR":[172,193],"outperforms":[173,199],"current":[175],"state":[176,201],"art":[179,204],"by":[180,205],"approximately":[181],"4%":[182],"F1":[184,209],"score":[185,210],"challenging":[188],"unmanned":[189],"surface":[190],"vehicle":[191],"dataset.":[192],"shows":[194],"remarkable":[195],"generalization":[196,215],"capabilities":[197],"over":[206],"24%":[207],"strict":[213],"domain":[214],"experiment.":[216]},"counts_by_year":[{"year":2026,"cited_by_count":6},{"year":2025,"cited_by_count":32},{"year":2024,"cited_by_count":24},{"year":2023,"cited_by_count":19},{"year":2022,"cited_by_count":13},{"year":2021,"cited_by_count":1}],"updated_date":"2026-04-09T08:11:56.329763","created_date":"2025-10-10T00:00:00"}