{"id":"https://openalex.org/W7110922981","doi":"https://doi.org/10.1109/tro.2025.3641755","title":"ID(O): Mapping Data Quantization for Bathymetric Collaborative SLAM","display_name":"ID(O): Mapping Data Quantization for Bathymetric Collaborative SLAM","publication_year":2025,"publication_date":"2025-12-09","ids":{"openalex":"https://openalex.org/W7110922981","doi":"https://doi.org/10.1109/tro.2025.3641755"},"language":null,"primary_location":{"id":"doi:10.1109/tro.2025.3641755","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tro.2025.3641755","pdf_url":null,"source":{"id":"https://openalex.org/S144620930","display_name":"IEEE Transactions on Robotics","issn_l":"1552-3098","issn":["1552-3098","1941-0468"],"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 Robotics","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":"Qianyi Zhang","orcid":"https://orcid.org/0000-0001-8509-7136"},"institutions":[{"id":"https://openalex.org/I157485424","display_name":"Korea Advanced Institute of Science and Technology","ror":"https://ror.org/05apxxy63","country_code":"KR","type":"education","lineage":["https://openalex.org/I157485424"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Qianyi Zhang","raw_affiliation_strings":["Robotics Program, Korea Advanced Institute of Science and Technology (KAIST), Daejeon, South Korea"],"raw_orcid":"https://orcid.org/0000-0001-8509-7136","affiliations":[{"raw_affiliation_string":"Robotics Program, Korea Advanced Institute of Science and Technology (KAIST), Daejeon, South Korea","institution_ids":["https://openalex.org/I157485424"]}]},{"author_position":"last","author":{"id":null,"display_name":"Jinwhan Kim","orcid":"https://orcid.org/0000-0001-6886-2449"},"institutions":[{"id":"https://openalex.org/I157485424","display_name":"Korea Advanced Institute of Science and Technology","ror":"https://ror.org/05apxxy63","country_code":"KR","type":"education","lineage":["https://openalex.org/I157485424"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Jinwhan Kim","raw_affiliation_strings":["Robotics Program, Korea Advanced Institute of Science and Technology (KAIST), Daejeon, South Korea"],"raw_orcid":"https://orcid.org/0000-0001-6886-2449","affiliations":[{"raw_affiliation_string":"Robotics Program, Korea Advanced Institute of Science and Technology (KAIST), Daejeon, South Korea","institution_ids":["https://openalex.org/I157485424"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.8442,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":{"value":0.79401582,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":95,"max":98},"biblio":{"volume":"42","issue":null,"first_page":"525","last_page":"544"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11192","display_name":"Underwater Vehicles and Communication Systems","score":0.847599983215332,"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":0.847599983215332,"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/T11698","display_name":"Underwater Acoustics Research","score":0.06889999657869339,"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/T10326","display_name":"Indoor and Outdoor Localization Technologies","score":0.05090000107884407,"subfield":{"id":"https://openalex.org/subfields/2208","display_name":"Electrical and Electronic 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/bathymetry","display_name":"Bathymetry","score":0.9122999906539917},{"id":"https://openalex.org/keywords/vector-quantization","display_name":"Vector quantization","score":0.5759999752044678},{"id":"https://openalex.org/keywords/quantization","display_name":"Quantization (signal processing)","score":0.4742000102996826},{"id":"https://openalex.org/keywords/data-compression","display_name":"Data compression","score":0.4546000063419342},{"id":"https://openalex.org/keywords/sea-trial","display_name":"Sea trial","score":0.4505000114440918},{"id":"https://openalex.org/keywords/bathymetric-chart","display_name":"Bathymetric chart","score":0.42340001463890076},{"id":"https://openalex.org/keywords/orientation","display_name":"Orientation (vector space)","score":0.42340001463890076},{"id":"https://openalex.org/keywords/underwater","display_name":"Underwater","score":0.42320001125335693}],"concepts":[{"id":"https://openalex.org/C174943157","wikidata":"https://www.wikidata.org/wiki/Q810826","display_name":"Bathymetry","level":2,"score":0.9122999906539917},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6183000206947327},{"id":"https://openalex.org/C199833920","wikidata":"https://www.wikidata.org/wiki/Q612536","display_name":"Vector quantization","level":2,"score":0.5759999752044678},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.544700026512146},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.48170000314712524},{"id":"https://openalex.org/C28855332","wikidata":"https://www.wikidata.org/wiki/Q198099","display_name":"Quantization (signal processing)","level":2,"score":0.4742000102996826},{"id":"https://openalex.org/C78548338","wikidata":"https://www.wikidata.org/wiki/Q2493","display_name":"Data compression","level":2,"score":0.4546000063419342},{"id":"https://openalex.org/C19724227","wikidata":"https://www.wikidata.org/wiki/Q1988181","display_name":"Sea trial","level":2,"score":0.4505000114440918},{"id":"https://openalex.org/C16345878","wikidata":"https://www.wikidata.org/wiki/Q107472979","display_name":"Orientation (vector space)","level":2,"score":0.42340001463890076},{"id":"https://openalex.org/C138845058","wikidata":"https://www.wikidata.org/wiki/Q2915844","display_name":"Bathymetric chart","level":3,"score":0.42340001463890076},{"id":"https://openalex.org/C98083399","wikidata":"https://www.wikidata.org/wiki/Q3246517","display_name":"Underwater","level":2,"score":0.42320001125335693},{"id":"https://openalex.org/C27438332","wikidata":"https://www.wikidata.org/wiki/Q2873","display_name":"Principal component analysis","level":2,"score":0.38929998874664307},{"id":"https://openalex.org/C81081738","wikidata":"https://www.wikidata.org/wiki/Q55542","display_name":"Lossless compression","level":3,"score":0.37880000472068787},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.3783999979496002},{"id":"https://openalex.org/C153180895","wikidata":"https://www.wikidata.org/wiki/Q7148389","display_name":"Pattern recognition (psychology)","level":2,"score":0.32510000467300415},{"id":"https://openalex.org/C180016635","wikidata":"https://www.wikidata.org/wiki/Q2712821","display_name":"Compression (physics)","level":2,"score":0.28999999165534973},{"id":"https://openalex.org/C168167062","wikidata":"https://www.wikidata.org/wiki/Q1117970","display_name":"Component (thermodynamics)","level":2,"score":0.2827000021934509},{"id":"https://openalex.org/C12725497","wikidata":"https://www.wikidata.org/wiki/Q810247","display_name":"Baseline (sea)","level":2,"score":0.27709999680519104},{"id":"https://openalex.org/C153083717","wikidata":"https://www.wikidata.org/wiki/Q6535263","display_name":"Leverage (statistics)","level":2,"score":0.2743000090122223},{"id":"https://openalex.org/C86369673","wikidata":"https://www.wikidata.org/wiki/Q1203659","display_name":"Simultaneous localization and mapping","level":4,"score":0.2694999873638153},{"id":"https://openalex.org/C33954974","wikidata":"https://www.wikidata.org/wiki/Q486494","display_name":"Sensor fusion","level":2,"score":0.26589998602867126},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.26190000772476196},{"id":"https://openalex.org/C137314826","wikidata":"https://www.wikidata.org/wiki/Q2330408","display_name":"Data mapping","level":2,"score":0.26170000433921814}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tro.2025.3641755","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tro.2025.3641755","pdf_url":null,"source":{"id":"https://openalex.org/S144620930","display_name":"IEEE Transactions on Robotics","issn_l":"1552-3098","issn":["1552-3098","1941-0468"],"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 Robotics","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/14","score":0.7979857325553894,"display_name":"Life below water"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":86,"referenced_works":["https://openalex.org/W1512334378","https://openalex.org/W1603426217","https://openalex.org/W1766701518","https://openalex.org/W1964591239","https://openalex.org/W1976533881","https://openalex.org/W1982909553","https://openalex.org/W2008090244","https://openalex.org/W2020229924","https://openalex.org/W2022268133","https://openalex.org/W2040134986","https://openalex.org/W2055056592","https://openalex.org/W2061091326","https://openalex.org/W2065040545","https://openalex.org/W2076917298","https://openalex.org/W2086803935","https://openalex.org/W2131738223","https://openalex.org/W2144490140","https://openalex.org/W2153875642","https://openalex.org/W2171226338","https://openalex.org/W2285183387","https://openalex.org/W2288193388","https://openalex.org/W2493476150","https://openalex.org/W2564085365","https://openalex.org/W2570713051","https://openalex.org/W2593712938","https://openalex.org/W2612848726","https://openalex.org/W2764251381","https://openalex.org/W2803770871","https://openalex.org/W2898678504","https://openalex.org/W2906636743","https://openalex.org/W2910489334","https://openalex.org/W2945292890","https://openalex.org/W2946005927","https://openalex.org/W2951019013","https://openalex.org/W2951833923","https://openalex.org/W2971247417","https://openalex.org/W2971487583","https://openalex.org/W2973258311","https://openalex.org/W2976722701","https://openalex.org/W2979792421","https://openalex.org/W3003343875","https://openalex.org/W3006474838","https://openalex.org/W3023657883","https://openalex.org/W3049728568","https://openalex.org/W3082411600","https://openalex.org/W3090401636","https://openalex.org/W3111598592","https://openalex.org/W3113324229","https://openalex.org/W3128464154","https://openalex.org/W3134748538","https://openalex.org/W3160440378","https://openalex.org/W3194332337","https://openalex.org/W3204117507","https://openalex.org/W4205726212","https://openalex.org/W4226408738","https://openalex.org/W4226481925","https://openalex.org/W4285184065","https://openalex.org/W4285186699","https://openalex.org/W4285235494","https://openalex.org/W4285506552","https://openalex.org/W4294636990","https://openalex.org/W4300773648","https://openalex.org/W4311715448","https://openalex.org/W4312565892","https://openalex.org/W4319303179","https://openalex.org/W4361004988","https://openalex.org/W4362654037","https://openalex.org/W4366721390","https://openalex.org/W4367663448","https://openalex.org/W4383108534","https://openalex.org/W4383108755","https://openalex.org/W4387682075","https://openalex.org/W4387935040","https://openalex.org/W4388755261","https://openalex.org/W4390974151","https://openalex.org/W4392843902","https://openalex.org/W4392980049","https://openalex.org/W4394871054","https://openalex.org/W4400266727","https://openalex.org/W4400487953","https://openalex.org/W4402217114","https://openalex.org/W4402352146","https://openalex.org/W4405718134","https://openalex.org/W4407031332","https://openalex.org/W4408716311","https://openalex.org/W4409474276"],"related_works":[],"abstract_inverted_index":{"Underwater":[0],"acoustic":[1,213],"communication,":[2],"characterized":[3],"by":[4,212],"limited":[5],"bandwidth,":[6],"high":[7],"latency,":[8],"and":[9,23,68,91,157,159,170,195],"low":[10],"reliability,":[11],"poses":[12],"significant":[13],"challenges":[14],"for":[15,39,191],"data":[16,41,193],"exchange":[17],"in":[18,43],"bathymetric":[19,44,110,192,203],"collaborative":[20],"simultaneous":[21],"localization":[22],"mapping":[24,40,155],"(CSLAM).":[25],"In":[26],"this":[27],"paper,":[28],"we":[29,92,104],"introduce":[30],"a":[31,59,94,108],"novel":[32],"vector":[33],"quantization":[34],"(VQ)":[35],"method":[36,95,139,190],"called":[37],"ID(O)":[38,46,106,126,147,185,199],"compression":[42,153],"CSLAM.":[45,115],"encodes":[47],"the":[48,137,180,187,201],"map":[49,53,62,71,101],"into":[50],"an":[51,69,207],"index":[52],"(<inline-formula":[54,63,72],"xmlns:mml=\"http://www.w3.org/1998/Math/MathML\"":[55,64,73,130,165],"xmlns:xlink=\"http://www.w3.org/1999/xlink\"><tex-math":[56,65,74,131,166],"notation=\"LaTeX\">$\\mathbb":[57,66,75],"{I}$</tex-math></inline-formula>),":[58],"central":[60],"depth":[61],"{D}$</tex-math></inline-formula>),":[67],"orientation":[70],"{O}$</tex-math></inline-formula>).":[76],"To":[77,179],"accommodate":[78],"strict":[79],"communication":[80,209],"constraints,":[81],"orientations":[82,99],"can":[83,148],"be":[84],"partially":[85],"or":[86],"fully":[87],"excluded":[88],"from":[89],"transmission,":[90],"propose":[93],"to":[96],"estimate":[97],"these":[98],"during":[100],"restoration.":[102],"Moreover,":[103],"integrate":[105],"within":[107,206],"feature-based":[109],"CSLAM":[111,145,197,204],"framework":[112],"named":[113],"TTT":[114,144,196],"Extensive":[116],"experiments":[117],"on":[118],"two":[119],"large-scale":[120],"sea":[121],"trial":[122],"datasets":[123],"demonstrate":[124],"that":[125,150],"achieves":[127],"about":[128],"40<inline-formula":[129,164],"notation=\"LaTeX\">$\\%$</tex-math></inline-formula>":[132,167],"higher":[133],"restoration":[134],"accuracy":[135,156],"than":[136],"baseline":[138],"using":[140],"principal":[141],"component":[142],"analysis.":[143],"with":[146,151,198],"match":[149],"lossless":[152],"regarding":[154],"efficiency,":[158],"it":[160],"is":[161,186,200],"robust":[162],"against":[163],"packet":[168],"loss":[169],"large":[171],"dead":[172],"reckoning":[173],"drift":[174],"errors":[175],"across":[176],"diverse":[177],"environments.":[178],"best":[181],"of":[182],"our":[183],"knowledge,":[184],"first":[188,202],"VQ":[189],"compression,":[194],"tested":[205],"underwater":[208],"network":[210],"employed":[211],"modems.":[214]},"counts_by_year":[{"year":2026,"cited_by_count":1}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-12-10T00:00:00"}
