{"id":"https://openalex.org/W4312910124","doi":"https://doi.org/10.1109/tim.2022.3205673","title":"Tightly Coupled Binocular Vision-DVL Fusion Positioning Feedback for Real-time Autonomous Sea Organism Capture","display_name":"Tightly Coupled Binocular Vision-DVL Fusion Positioning Feedback for Real-time Autonomous Sea Organism Capture","publication_year":2022,"publication_date":"2022-01-01","ids":{"openalex":"https://openalex.org/W4312910124","doi":"https://doi.org/10.1109/tim.2022.3205673"},"language":"en","primary_location":{"id":"doi:10.1109/tim.2022.3205673","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tim.2022.3205673","pdf_url":null,"source":{"id":"https://openalex.org/S10892749","display_name":"IEEE Transactions on Instrumentation and Measurement","issn_l":"0018-9456","issn":["0018-9456","1557-9662"],"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 Instrumentation and Measurement","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/A5028027471","display_name":"Hai Huang","orcid":"https://orcid.org/0000-0001-7764-0442"},"institutions":[{"id":"https://openalex.org/I151727225","display_name":"Harbin Engineering University","ror":"https://ror.org/03x80pn82","country_code":"CN","type":"education","lineage":["https://openalex.org/I151727225"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Hai Huang","raw_affiliation_strings":["National Key Laboratory of Science and Technology of Underwater Vehicle, Harbin Engineering University, No.145 Nantong Street, Harbin, China"],"raw_orcid":"https://orcid.org/0000-0001-7764-0442","affiliations":[{"raw_affiliation_string":"National Key Laboratory of Science and Technology of Underwater Vehicle, Harbin Engineering University, No.145 Nantong Street, Harbin, China","institution_ids":["https://openalex.org/I151727225"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5060763472","display_name":"Teng Guo","orcid":"https://orcid.org/0000-0002-6318-6426"},"institutions":[{"id":"https://openalex.org/I151727225","display_name":"Harbin Engineering University","ror":"https://ror.org/03x80pn82","country_code":"CN","type":"education","lineage":["https://openalex.org/I151727225"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Teng Guo","raw_affiliation_strings":["National Key Laboratory of Science and Technology of Underwater Vehicle, Harbin Engineering University, No.145 Nantong Street, Harbin, China"],"raw_orcid":"https://orcid.org/0000-0002-6318-6426","affiliations":[{"raw_affiliation_string":"National Key Laboratory of Science and Technology of Underwater Vehicle, Harbin Engineering University, No.145 Nantong Street, Harbin, China","institution_ids":["https://openalex.org/I151727225"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5110814626","display_name":"Tao Jiang","orcid":"https://orcid.org/0000-0001-9829-9300"},"institutions":[{"id":"https://openalex.org/I151727225","display_name":"Harbin Engineering University","ror":"https://ror.org/03x80pn82","country_code":"CN","type":"education","lineage":["https://openalex.org/I151727225"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Tao Jiang","raw_affiliation_strings":["National Key Laboratory of Science and Technology of Underwater Vehicle, Harbin Engineering University, No.145 Nantong Street, Harbin, China"],"raw_orcid":"https://orcid.org/0000-0001-9829-9300","affiliations":[{"raw_affiliation_string":"National Key Laboratory of Science and Technology of Underwater Vehicle, Harbin Engineering University, No.145 Nantong Street, Harbin, China","institution_ids":["https://openalex.org/I151727225"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5021531231","display_name":"Fengchun Cai","orcid":"https://orcid.org/0000-0003-3381-5591"},"institutions":[{"id":"https://openalex.org/I151727225","display_name":"Harbin Engineering University","ror":"https://ror.org/03x80pn82","country_code":"CN","type":"education","lineage":["https://openalex.org/I151727225"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Fengchun Cai","raw_affiliation_strings":["National Key Laboratory of Science and Technology of Underwater Vehicle, Harbin Engineering University, No.145 Nantong Street, Harbin, China"],"raw_orcid":"https://orcid.org/0000-0003-3381-5591","affiliations":[{"raw_affiliation_string":"National Key Laboratory of Science and Technology of Underwater Vehicle, Harbin Engineering University, No.145 Nantong Street, Harbin, China","institution_ids":["https://openalex.org/I151727225"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5080546952","display_name":"Bocheng Niu","orcid":"https://orcid.org/0000-0002-3855-9702"},"institutions":[{"id":"https://openalex.org/I151727225","display_name":"Harbin Engineering University","ror":"https://ror.org/03x80pn82","country_code":"CN","type":"education","lineage":["https://openalex.org/I151727225"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Bocheng Niu","raw_affiliation_strings":["National Key Laboratory of Science and Technology of Underwater Vehicle, Harbin Engineering University, No.145 Nantong Street, Harbin, China"],"raw_orcid":"https://orcid.org/0000-0002-3855-9702","affiliations":[{"raw_affiliation_string":"National Key Laboratory of Science and Technology of Underwater Vehicle, Harbin Engineering University, No.145 Nantong Street, Harbin, China","institution_ids":["https://openalex.org/I151727225"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Xinyue Han","orcid":"https://orcid.org/0000-0002-5842-8697"},"institutions":[{"id":"https://openalex.org/I151727225","display_name":"Harbin Engineering University","ror":"https://ror.org/03x80pn82","country_code":"CN","type":"education","lineage":["https://openalex.org/I151727225"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xinyue Han","raw_affiliation_strings":["National Key Laboratory of Science and Technology of Underwater Vehicle, Harbin Engineering University, No.145 Nantong Street, Harbin, China"],"raw_orcid":"https://orcid.org/0000-0002-5842-8697","affiliations":[{"raw_affiliation_string":"National Key Laboratory of Science and Technology of Underwater Vehicle, Harbin Engineering University, No.145 Nantong Street, Harbin, China","institution_ids":["https://openalex.org/I151727225"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5024721541","display_name":"Qiang Zhang","orcid":"https://orcid.org/0000-0003-3587-865X"},"institutions":[{"id":"https://openalex.org/I151727225","display_name":"Harbin Engineering University","ror":"https://ror.org/03x80pn82","country_code":"CN","type":"education","lineage":["https://openalex.org/I151727225"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Qiang Zhang","raw_affiliation_strings":["National Key Laboratory of Science and Technology of Underwater Vehicle, Harbin Engineering University, No.145 Nantong Street, Harbin, China"],"raw_orcid":"https://orcid.org/0000-0003-3587-865X","affiliations":[{"raw_affiliation_string":"National Key Laboratory of Science and Technology of Underwater Vehicle, Harbin Engineering University, No.145 Nantong Street, Harbin, China","institution_ids":["https://openalex.org/I151727225"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":7,"corresponding_author_ids":["https://openalex.org/A5028027471"],"corresponding_institution_ids":["https://openalex.org/I151727225"],"apc_list":null,"apc_paid":null,"fwci":7.012,"has_fulltext":false,"cited_by_count":11,"citation_normalized_percentile":{"value":0.96328934,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":96,"max":98},"biblio":{"volume":null,"issue":null,"first_page":"1","last_page":"1"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9984999895095825,"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":0.9984999895095825,"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/T11192","display_name":"Underwater Vehicles and Communication Systems","score":0.9911999702453613,"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/T12697","display_name":"Water Quality Monitoring Technologies","score":0.9909999966621399,"subfield":{"id":"https://openalex.org/subfields/2312","display_name":"Water Science and Technology"},"field":{"id":"https://openalex.org/fields/23","display_name":"Environmental Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.6735564470291138},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.664918839931488},{"id":"https://openalex.org/keywords/underwater","display_name":"Underwater","score":0.6481741070747375},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.6420397758483887},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.5829527378082275},{"id":"https://openalex.org/keywords/kalman-filter","display_name":"Kalman filter","score":0.5237105488777161},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.4643459916114807},{"id":"https://openalex.org/keywords/feature-extraction","display_name":"Feature extraction","score":0.4477508068084717}],"concepts":[{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.6735564470291138},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.664918839931488},{"id":"https://openalex.org/C98083399","wikidata":"https://www.wikidata.org/wiki/Q3246517","display_name":"Underwater","level":2,"score":0.6481741070747375},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6420397758483887},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.5829527378082275},{"id":"https://openalex.org/C157286648","wikidata":"https://www.wikidata.org/wiki/Q846780","display_name":"Kalman filter","level":2,"score":0.5237105488777161},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.4643459916114807},{"id":"https://openalex.org/C52622490","wikidata":"https://www.wikidata.org/wiki/Q1026626","display_name":"Feature extraction","level":2,"score":0.4477508068084717},{"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/C127313418","wikidata":"https://www.wikidata.org/wiki/Q1069","display_name":"Geology","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}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tim.2022.3205673","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tim.2022.3205673","pdf_url":null,"source":{"id":"https://openalex.org/S10892749","display_name":"IEEE Transactions on Instrumentation and Measurement","issn_l":"0018-9456","issn":["0018-9456","1557-9662"],"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 Instrumentation and Measurement","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.8500000238418579,"id":"https://metadata.un.org/sdg/14","display_name":"Life below water"}],"awards":[{"id":"https://openalex.org/G2792922415","display_name":null,"funder_award_id":"52025111","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G4710913493","display_name":null,"funder_award_id":"U21A20490","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G8477208703","display_name":null,"funder_award_id":"61633009","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":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":36,"referenced_works":["https://openalex.org/W1823139046","https://openalex.org/W1943808550","https://openalex.org/W1992563911","https://openalex.org/W2042544380","https://openalex.org/W2065790938","https://openalex.org/W2077398927","https://openalex.org/W2111089574","https://openalex.org/W2157445344","https://openalex.org/W2167667767","https://openalex.org/W2202045407","https://openalex.org/W2342437324","https://openalex.org/W2512056218","https://openalex.org/W2524685483","https://openalex.org/W2552263821","https://openalex.org/W2586545655","https://openalex.org/W2592951493","https://openalex.org/W2732510496","https://openalex.org/W2758214539","https://openalex.org/W2760838541","https://openalex.org/W2793078863","https://openalex.org/W2884312170","https://openalex.org/W2888739247","https://openalex.org/W2891684080","https://openalex.org/W2895406295","https://openalex.org/W2896442146","https://openalex.org/W2897935372","https://openalex.org/W2931843659","https://openalex.org/W2939440446","https://openalex.org/W2979373938","https://openalex.org/W2982679019","https://openalex.org/W2988698101","https://openalex.org/W2995536136","https://openalex.org/W3028066272","https://openalex.org/W3092132586","https://openalex.org/W3096998908","https://openalex.org/W3104529569"],"related_works":["https://openalex.org/W4388412763","https://openalex.org/W1999583034","https://openalex.org/W3217214504","https://openalex.org/W3168963531","https://openalex.org/W2591930867","https://openalex.org/W2773822314","https://openalex.org/W2953138830","https://openalex.org/W3176162126","https://openalex.org/W2891537746","https://openalex.org/W1996690921"],"abstract_inverted_index":{"Visual":[0],"positioning":[1,12,37,146,195],"is":[2,204],"very":[3],"significant":[4],"for":[5,162,206],"underwater":[6,28,52,72,208],"robot":[7,209],"autonomous":[8],"manipulation.":[9],"However,":[10],"visual":[11],"feedbacks":[13],"are":[14,120],"often":[15],"ineffective":[16],"with":[17,42,90,150,168],"unstable":[18],"and":[19,44,66,74,98,173,181,199],"discontinuous":[20],"matching":[21,45,64,88],"information":[22,196],"during":[23],"small":[24],"target":[25],"capture":[26,164,213],"in":[27,47,106,122,197],"environment.":[29],"Therefore,":[30],"the":[31,51,63,71,107,112,123,130,133,163,183,190,207],"low":[32],"cost":[33],"sea":[34,166],"organism":[35,167],"object":[36],"process":[38],"should":[39],"be":[40],"applied":[41],"self-navigation":[43],"system":[46],"order":[48,60],"to":[49,61,93,101,128,157,179,210],"guide":[50],"vehicle":[53],"manipulator":[54],"systems":[55],"(UVMS)":[56],"manipulation":[57],"control.":[58],"In":[59],"improve":[62,129,158],"robustness":[65,131],"accuracy,":[67],"this":[68],"study":[69],"established":[70],"refraction":[73],"intrinsic":[75],"&":[76],"extrinsic":[77],"parameter":[78],"optimization":[79,148],"model":[80],"accurate":[81,159,212],"calibration,":[82],"designed":[83],"an":[84],"improved":[85],"ORB":[86],"feature":[87,96,103,108,124],"method,":[89],"adaptive":[91],"threshold":[92],"extract":[94],"FAST":[95],"points":[97],"non-maximum":[99],"suppress":[100],"remove":[102],"point":[104,125],"blocks":[105,117],"extraction":[109],"stage.":[110],"Moreover,":[111],"comparison":[113],"of":[114,132,165,214],"three":[115],"pixel":[116],"norm":[118],"values":[119],"proposed":[121,138],"description":[126],"stage":[127],"descriptor.":[134],"This":[135],"paper":[136],"has":[137],"a":[139],"novel":[140],"tightly":[141],"coupled":[142],"binocular":[143],"vision-DVL":[144],"fusion":[145],"feedback":[147],"algorithm":[149,191],"multi-state":[151],"constraint":[152],"Invariant":[153],"Extended":[154],"Kalman":[155],"Filter":[156],"real-time":[160],"measurement":[161],"limited":[169],"features.":[170],"Systematic":[171],"tank":[172,198],"oceanic":[174],"experiments":[175],"have":[176],"been":[177],"performed":[178],"prove":[180],"analyze":[182],"purposed":[184],"algorithm.":[185],"Experimental":[186],"results":[187],"show":[188],"that":[189],"can":[192],"provide":[193],"reliable":[194],"complex":[200],"seabed":[201],"environment,":[202],"which":[203],"effective":[205],"realize":[211],"marine":[215],"organisms.":[216]},"counts_by_year":[{"year":2025,"cited_by_count":4},{"year":2024,"cited_by_count":4},{"year":2023,"cited_by_count":3}],"updated_date":"2026-03-27T05:58:40.876381","created_date":"2025-10-10T00:00:00"}