{"id":"https://openalex.org/W1573606179","doi":"https://doi.org/10.1109/icra.2015.7139706","title":"High-level visual features for underwater place recognition","display_name":"High-level visual features for underwater place recognition","publication_year":2015,"publication_date":"2015-05-01","ids":{"openalex":"https://openalex.org/W1573606179","doi":"https://doi.org/10.1109/icra.2015.7139706","mag":"1573606179"},"language":"en","primary_location":{"id":"doi:10.1109/icra.2015.7139706","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2015.7139706","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2015 IEEE International Conference on Robotics and Automation (ICRA)","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/A5101818909","display_name":"Jie Li","orcid":"https://orcid.org/0000-0003-0812-780X"},"institutions":[{"id":"https://openalex.org/I27837315","display_name":"University of Michigan","ror":"https://ror.org/00jmfr291","country_code":"US","type":"education","lineage":["https://openalex.org/I27837315"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Jie Li","raw_affiliation_strings":["Department of Electrical Engineering & Computer Science, University of Michigan, Ann Arbor, MI, USA","Department of Electrical Engineering and Computer Science, University of Michigan, Ann Arbor, 48109, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Electrical Engineering & Computer Science, University of Michigan, Ann Arbor, MI, USA","institution_ids":["https://openalex.org/I27837315"]},{"raw_affiliation_string":"Department of Electrical Engineering and Computer Science, University of Michigan, Ann Arbor, 48109, USA","institution_ids":["https://openalex.org/I27837315"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5020864898","display_name":"Ryan M. Eustice","orcid":"https://orcid.org/0000-0002-9989-4942"},"institutions":[{"id":"https://openalex.org/I27837315","display_name":"University of Michigan","ror":"https://ror.org/00jmfr291","country_code":"US","type":"education","lineage":["https://openalex.org/I27837315"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Ryan M. Eustice","raw_affiliation_strings":["Department of Naval Architecture & Marine Engineering, University of Michigan, Ann Arbor, MI, USA","[Department of Naval Architecture and Marine Engineering, University of Michigan, Ann Arbor, 48109, USA]"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Naval Architecture & Marine Engineering, University of Michigan, Ann Arbor, MI, USA","institution_ids":["https://openalex.org/I27837315"]},{"raw_affiliation_string":"[Department of Naval Architecture and Marine Engineering, University of Michigan, Ann Arbor, 48109, USA]","institution_ids":["https://openalex.org/I27837315"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5089990642","display_name":"Matthew Johnson\u2010Roberson","orcid":"https://orcid.org/0000-0002-0506-907X"},"institutions":[{"id":"https://openalex.org/I27837315","display_name":"University of Michigan","ror":"https://ror.org/00jmfr291","country_code":"US","type":"education","lineage":["https://openalex.org/I27837315"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Matthew Johnson-Roberson","raw_affiliation_strings":["Department of Naval Architecture & Marine Engineering, University of Michigan, Ann Arbor, MI, USA","[Department of Naval Architecture and Marine Engineering, University of Michigan, Ann Arbor, 48109, USA]"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Naval Architecture & Marine Engineering, University of Michigan, Ann Arbor, MI, USA","institution_ids":["https://openalex.org/I27837315"]},{"raw_affiliation_string":"[Department of Naval Architecture and Marine Engineering, University of Michigan, Ann Arbor, 48109, USA]","institution_ids":["https://openalex.org/I27837315"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I27837315"],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":25,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"3652","last_page":"3659"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9995999932289124,"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":0.9995999932289124,"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/T10627","display_name":"Advanced Image and Video Retrieval Techniques","score":0.9983999729156494,"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/T11192","display_name":"Underwater Vehicles and Communication Systems","score":0.9955000281333923,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/underwater","display_name":"Underwater","score":0.8509198427200317},{"id":"https://openalex.org/keywords/salient","display_name":"Salient","score":0.7604331970214844},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.7247970700263977},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.7239562273025513},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.668673038482666},{"id":"https://openalex.org/keywords/feature","display_name":"Feature (linguistics)","score":0.5800289511680603},{"id":"https://openalex.org/keywords/segmentation","display_name":"Segmentation","score":0.5582950115203857},{"id":"https://openalex.org/keywords/feature-extraction","display_name":"Feature extraction","score":0.5305980443954468},{"id":"https://openalex.org/keywords/contrast","display_name":"Contrast (vision)","score":0.4648204445838928},{"id":"https://openalex.org/keywords/matching","display_name":"Matching (statistics)","score":0.45585450530052185},{"id":"https://openalex.org/keywords/image-segmentation","display_name":"Image segmentation","score":0.4419500529766083},{"id":"https://openalex.org/keywords/point","display_name":"Point (geometry)","score":0.4310571551322937},{"id":"https://openalex.org/keywords/pattern-recognition","display_name":"Pattern recognition (psychology)","score":0.3717409372329712},{"id":"https://openalex.org/keywords/geography","display_name":"Geography","score":0.170766681432724},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.13630014657974243}],"concepts":[{"id":"https://openalex.org/C98083399","wikidata":"https://www.wikidata.org/wiki/Q3246517","display_name":"Underwater","level":2,"score":0.8509198427200317},{"id":"https://openalex.org/C2780719617","wikidata":"https://www.wikidata.org/wiki/Q1030752","display_name":"Salient","level":2,"score":0.7604331970214844},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.7247970700263977},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.7239562273025513},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.668673038482666},{"id":"https://openalex.org/C2776401178","wikidata":"https://www.wikidata.org/wiki/Q12050496","display_name":"Feature (linguistics)","level":2,"score":0.5800289511680603},{"id":"https://openalex.org/C89600930","wikidata":"https://www.wikidata.org/wiki/Q1423946","display_name":"Segmentation","level":2,"score":0.5582950115203857},{"id":"https://openalex.org/C52622490","wikidata":"https://www.wikidata.org/wiki/Q1026626","display_name":"Feature extraction","level":2,"score":0.5305980443954468},{"id":"https://openalex.org/C2776502983","wikidata":"https://www.wikidata.org/wiki/Q690182","display_name":"Contrast (vision)","level":2,"score":0.4648204445838928},{"id":"https://openalex.org/C165064840","wikidata":"https://www.wikidata.org/wiki/Q1321061","display_name":"Matching (statistics)","level":2,"score":0.45585450530052185},{"id":"https://openalex.org/C124504099","wikidata":"https://www.wikidata.org/wiki/Q56933","display_name":"Image segmentation","level":3,"score":0.4419500529766083},{"id":"https://openalex.org/C28719098","wikidata":"https://www.wikidata.org/wiki/Q44946","display_name":"Point (geometry)","level":2,"score":0.4310571551322937},{"id":"https://openalex.org/C153180895","wikidata":"https://www.wikidata.org/wiki/Q7148389","display_name":"Pattern recognition (psychology)","level":2,"score":0.3717409372329712},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.170766681432724},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.13630014657974243},{"id":"https://openalex.org/C41895202","wikidata":"https://www.wikidata.org/wiki/Q8162","display_name":"Linguistics","level":1,"score":0.0},{"id":"https://openalex.org/C138885662","wikidata":"https://www.wikidata.org/wiki/Q5891","display_name":"Philosophy","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},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.0},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/icra.2015.7139706","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2015.7139706","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2015 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"},{"id":"pmh:oai:CiteSeerX.psu:10.1.1.711.5787","is_oa":false,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.711.5787","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"http://robots.engin.umich.edu/publications/jli-2015a.pdf","raw_type":"text"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/14","score":0.8600000143051147,"display_name":"Life below water"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":23,"referenced_works":["https://openalex.org/W8177059","https://openalex.org/W26944259","https://openalex.org/W1872412942","https://openalex.org/W1982075130","https://openalex.org/W1999478155","https://openalex.org/W2013117623","https://openalex.org/W2020950478","https://openalex.org/W2033819227","https://openalex.org/W2097878628","https://openalex.org/W2110405746","https://openalex.org/W2121013842","https://openalex.org/W2127578024","https://openalex.org/W2128715914","https://openalex.org/W2135957164","https://openalex.org/W2137833277","https://openalex.org/W2144824356","https://openalex.org/W2146881125","https://openalex.org/W2152671441","https://openalex.org/W2161969291","https://openalex.org/W2170396296","https://openalex.org/W6600343745","https://openalex.org/W6601039244","https://openalex.org/W6680437723"],"related_works":["https://openalex.org/W2329500892","https://openalex.org/W28991112","https://openalex.org/W2370726991","https://openalex.org/W4388412763","https://openalex.org/W2369710579","https://openalex.org/W1999583034","https://openalex.org/W3217214504","https://openalex.org/W4327728159","https://openalex.org/W3168963531","https://openalex.org/W2037375427"],"abstract_inverted_index":{"This":[0],"paper":[1],"reports":[2],"on":[3,58,150],"a":[4,20,83,158],"method":[5],"to":[6,37,98,105,111,118,127,139,178],"perform":[7],"robust":[8],"visual":[9,49],"relocalization":[10,26,169],"between":[11,108],"temporally":[12],"separated":[13],"sets":[14],"of":[15,51,54,72],"underwater":[16,33,144],"images":[17],"gathered":[18],"by":[19,157],"robot.":[21],"The":[22,146],"place":[23],"recognition":[24],"and":[25,61,68,94,102],"problem":[27],"is":[28,88,148],"more":[29],"challenging":[30],"in":[31,42,47,65,143,168],"the":[32,48],"environment":[34],"mainly":[35],"due":[36],"three":[38],"factors:":[39],"1)":[40],"changes":[41,46,121],"illumination;":[43],"2)":[44],"long-term":[45],"appearance":[50,120],"features":[52,75,114,124],"because":[53],"phenomena":[55],"like":[56],"biofouling":[57],"man-made":[59],"structures":[60],"growth":[62],"or":[63,135],"movement":[64],"natural":[66],"features;":[67],"3)":[69],"low":[70],"density":[71],"visually":[73],"salient":[74,100],"for":[76,163],"image":[77,92],"matching.":[78],"To":[79],"address":[80],"these":[81],"challenges,":[82],"patch-based":[84,123],"feature":[85],"matching":[86],"approach":[87],"proposed,":[89],"which":[90,137],"uses":[91],"segmentation":[93],"local":[95],"intensity":[96],"contrast":[97],"locate":[99],"patches":[101],"HOG":[103],"description":[104],"make":[106],"correspondences":[107],"patches.":[109],"Compared":[110],"traditional":[112,180],"point-based":[113],"that":[115],"are":[116,125,176],"sensitive":[117],"dramatic":[119],"underwater,":[122],"able":[126],"encode":[128],"higher":[129],"level":[130],"information":[131],"such":[132],"as":[133],"shape":[134],"structure":[136],"tends":[138],"persist":[140],"across":[141,171],"years":[142,175],"environments.":[145],"algorithm":[147],"evaluated":[149],"real":[151],"data,":[152],"from":[153,173],"multiple":[154],"years,":[155],"collected":[156],"Hovering":[159],"Autonomous":[160],"Underwater":[161],"Vehicle":[162],"ship":[164],"hull":[165],"inspection.":[166],"Results":[167],"performance":[170],"missions":[172],"different":[174],"compared":[177],"other":[179],"methods.":[181]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2023,"cited_by_count":5},{"year":2022,"cited_by_count":2},{"year":2021,"cited_by_count":2},{"year":2020,"cited_by_count":1},{"year":2019,"cited_by_count":3},{"year":2018,"cited_by_count":4},{"year":2017,"cited_by_count":4},{"year":2016,"cited_by_count":2},{"year":2015,"cited_by_count":1}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}
