{"id":"https://openalex.org/W2937257010","doi":"https://doi.org/10.3390/s19071735","title":"A Fast Binocular Localisation Method for AUV Docking","display_name":"A Fast Binocular Localisation Method for AUV Docking","publication_year":2019,"publication_date":"2019-04-11","ids":{"openalex":"https://openalex.org/W2937257010","doi":"https://doi.org/10.3390/s19071735","mag":"2937257010","pmid":"https://pubmed.ncbi.nlm.nih.gov/30978977"},"language":"en","primary_location":{"id":"doi:10.3390/s19071735","is_oa":true,"landing_page_url":"https://doi.org/10.3390/s19071735","pdf_url":"https://www.mdpi.com/1424-8220/19/7/1735/pdf?version=1554974782","source":{"id":"https://openalex.org/S101949793","display_name":"Sensors","issn_l":"1424-8220","issn":["1424-8220"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310310987","host_organization_name":"Multidisciplinary Digital Publishing Institute","host_organization_lineage":["https://openalex.org/P4310310987"],"host_organization_lineage_names":["Multidisciplinary Digital Publishing Institute"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Sensors","raw_type":"journal-article"},"type":"article","indexed_in":["crossref","doaj","pubmed"],"open_access":{"is_oa":true,"oa_status":"gold","oa_url":"https://www.mdpi.com/1424-8220/19/7/1735/pdf?version=1554974782","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5003957152","display_name":"Lijia Zhong","orcid":null},"institutions":[{"id":"https://openalex.org/I76130692","display_name":"Zhejiang University","ror":"https://ror.org/00a2xv884","country_code":"CN","type":"education","lineage":["https://openalex.org/I76130692"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Lijia Zhong","raw_affiliation_strings":["State Key Laboratory of Fluid Power and Mechatronic Systems, Zhejiang University, Hangzhou 310027, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"State Key Laboratory of Fluid Power and Mechatronic Systems, Zhejiang University, Hangzhou 310027, China","institution_ids":["https://openalex.org/I76130692"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101706831","display_name":"Dejun Li","orcid":"https://orcid.org/0000-0002-9034-4493"},"institutions":[{"id":"https://openalex.org/I76130692","display_name":"Zhejiang University","ror":"https://ror.org/00a2xv884","country_code":"CN","type":"education","lineage":["https://openalex.org/I76130692"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Dejun Li","raw_affiliation_strings":["State Key Laboratory of Fluid Power and Mechatronic Systems, Zhejiang University, Hangzhou 310027, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"State Key Laboratory of Fluid Power and Mechatronic Systems, Zhejiang University, Hangzhou 310027, China","institution_ids":["https://openalex.org/I76130692"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5103242781","display_name":"Mingwei Lin","orcid":"https://orcid.org/0000-0002-8583-5896"},"institutions":[{"id":"https://openalex.org/I76130692","display_name":"Zhejiang University","ror":"https://ror.org/00a2xv884","country_code":"CN","type":"education","lineage":["https://openalex.org/I76130692"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Mingwei Lin","raw_affiliation_strings":["State Key Laboratory of Fluid Power and Mechatronic Systems, Zhejiang University, Hangzhou 310027, China"],"raw_orcid":"https://orcid.org/0000-0002-8583-5896","affiliations":[{"raw_affiliation_string":"State Key Laboratory of Fluid Power and Mechatronic Systems, Zhejiang University, Hangzhou 310027, China","institution_ids":["https://openalex.org/I76130692"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5004229983","display_name":"Ri Lin","orcid":null},"institutions":[{"id":"https://openalex.org/I76130692","display_name":"Zhejiang University","ror":"https://ror.org/00a2xv884","country_code":"CN","type":"education","lineage":["https://openalex.org/I76130692"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Ri Lin","raw_affiliation_strings":["State Key Laboratory of Fluid Power and Mechatronic Systems, Zhejiang University, Hangzhou 310027, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"State Key Laboratory of Fluid Power and Mechatronic Systems, Zhejiang University, Hangzhou 310027, China","institution_ids":["https://openalex.org/I76130692"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5021494299","display_name":"Canjun Yang","orcid":"https://orcid.org/0000-0002-3712-0538"},"institutions":[{"id":"https://openalex.org/I4210113896","display_name":"Qingdao National Laboratory for Marine Science and Technology","ror":"https://ror.org/026sv7t11","country_code":"CN","type":"facility","lineage":["https://openalex.org/I4210113896"]},{"id":"https://openalex.org/I76130692","display_name":"Zhejiang University","ror":"https://ror.org/00a2xv884","country_code":"CN","type":"education","lineage":["https://openalex.org/I76130692"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Canjun Yang","raw_affiliation_strings":["Pilot National Laboratory for Marine Science and Technology (Qingdao), Qingdao 266000, China","State Key Laboratory of Fluid Power and Mechatronic Systems, Zhejiang University, Hangzhou 310027, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Pilot National Laboratory for Marine Science and Technology (Qingdao), Qingdao 266000, China","institution_ids":["https://openalex.org/I4210113896"]},{"raw_affiliation_string":"State Key Laboratory of Fluid Power and Mechatronic Systems, Zhejiang University, Hangzhou 310027, China","institution_ids":["https://openalex.org/I76130692"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5101706831"],"corresponding_institution_ids":["https://openalex.org/I76130692"],"apc_list":{"value":2400,"currency":"CHF","value_usd":2598},"apc_paid":{"value":2400,"currency":"CHF","value_usd":2598},"fwci":4.6175,"has_fulltext":true,"cited_by_count":38,"citation_normalized_percentile":{"value":0.94424386,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":90,"max":100},"biblio":{"volume":"19","issue":"7","first_page":"1735","last_page":"1735"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11192","display_name":"Underwater Vehicles and Communication Systems","score":0.9998000264167786,"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":0.9998000264167786,"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/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9983999729156494,"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/T12697","display_name":"Water Quality Monitoring Technologies","score":0.9901999831199646,"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":0.7307338714599609},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.7281959652900696},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.645988404750824},{"id":"https://openalex.org/keywords/feature-extraction","display_name":"Feature extraction","score":0.5097665190696716},{"id":"https://openalex.org/keywords/binocular-vision","display_name":"Binocular vision","score":0.5080618858337402},{"id":"https://openalex.org/keywords/underwater","display_name":"Underwater","score":0.4808412492275238},{"id":"https://openalex.org/keywords/segmentation","display_name":"Segmentation","score":0.4605165719985962},{"id":"https://openalex.org/keywords/feature-matching","display_name":"Feature matching","score":0.4311266541481018},{"id":"https://openalex.org/keywords/geology","display_name":"Geology","score":0.09133055806159973}],"concepts":[{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.7307338714599609},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.7281959652900696},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.645988404750824},{"id":"https://openalex.org/C52622490","wikidata":"https://www.wikidata.org/wiki/Q1026626","display_name":"Feature extraction","level":2,"score":0.5097665190696716},{"id":"https://openalex.org/C121958486","wikidata":"https://www.wikidata.org/wiki/Q609543","display_name":"Binocular vision","level":2,"score":0.5080618858337402},{"id":"https://openalex.org/C98083399","wikidata":"https://www.wikidata.org/wiki/Q3246517","display_name":"Underwater","level":2,"score":0.4808412492275238},{"id":"https://openalex.org/C89600930","wikidata":"https://www.wikidata.org/wiki/Q1423946","display_name":"Segmentation","level":2,"score":0.4605165719985962},{"id":"https://openalex.org/C2983787585","wikidata":"https://www.wikidata.org/wiki/Q93586","display_name":"Feature matching","level":3,"score":0.4311266541481018},{"id":"https://openalex.org/C127313418","wikidata":"https://www.wikidata.org/wiki/Q1069","display_name":"Geology","level":0,"score":0.09133055806159973},{"id":"https://openalex.org/C111368507","wikidata":"https://www.wikidata.org/wiki/Q43518","display_name":"Oceanography","level":1,"score":0.0}],"mesh":[],"locations_count":5,"locations":[{"id":"doi:10.3390/s19071735","is_oa":true,"landing_page_url":"https://doi.org/10.3390/s19071735","pdf_url":"https://www.mdpi.com/1424-8220/19/7/1735/pdf?version=1554974782","source":{"id":"https://openalex.org/S101949793","display_name":"Sensors","issn_l":"1424-8220","issn":["1424-8220"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310310987","host_organization_name":"Multidisciplinary Digital Publishing Institute","host_organization_lineage":["https://openalex.org/P4310310987"],"host_organization_lineage_names":["Multidisciplinary Digital Publishing Institute"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Sensors","raw_type":"journal-article"},{"id":"pmid:30978977","is_oa":false,"landing_page_url":"https://pubmed.ncbi.nlm.nih.gov/30978977","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":"Sensors (Basel, Switzerland)","raw_type":null},{"id":"pmh:oai:doaj.org/article:ebda090f60d846168467987fcbeccd4b","is_oa":true,"landing_page_url":"https://doaj.org/article/ebda090f60d846168467987fcbeccd4b","pdf_url":null,"source":{"id":"https://openalex.org/S4306401280","display_name":"DOAJ (DOAJ: Directory of Open Access Journals)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by-sa","license_id":"https://openalex.org/licenses/cc-by-sa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Sensors, Vol 19, Iss 7, p 1735 (2019)","raw_type":"article"},{"id":"pmh:oai:mdpi.com:/1424-8220/19/7/1735/","is_oa":true,"landing_page_url":"http://dx.doi.org/10.3390/s19071735","pdf_url":null,"source":{"id":"https://openalex.org/S4306400947","display_name":"MDPI (MDPI AG)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I4210097602","host_organization_name":"Multidisciplinary Digital Publishing Institute (Switzerland)","host_organization_lineage":["https://openalex.org/I4210097602"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Sensors","raw_type":"Text"},{"id":"pmh:oai:pubmedcentral.nih.gov:6479930","is_oa":true,"landing_page_url":"https://www.ncbi.nlm.nih.gov/pmc/articles/6479930","pdf_url":null,"source":{"id":"https://openalex.org/S2764455111","display_name":"PubMed Central","issn_l":null,"issn":null,"is_oa":true,"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":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Sensors (Basel)","raw_type":"Text"}],"best_oa_location":{"id":"doi:10.3390/s19071735","is_oa":true,"landing_page_url":"https://doi.org/10.3390/s19071735","pdf_url":"https://www.mdpi.com/1424-8220/19/7/1735/pdf?version=1554974782","source":{"id":"https://openalex.org/S101949793","display_name":"Sensors","issn_l":"1424-8220","issn":["1424-8220"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310310987","host_organization_name":"Multidisciplinary Digital Publishing Institute","host_organization_lineage":["https://openalex.org/P4310310987"],"host_organization_lineage_names":["Multidisciplinary Digital Publishing Institute"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Sensors","raw_type":"journal-article"},"sustainable_development_goals":[{"score":0.7900000214576721,"display_name":"Life below water","id":"https://metadata.un.org/sdg/14"}],"awards":[{"id":"https://openalex.org/G1021263114","display_name":null,"funder_award_id":"41676089","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"},{"id":"https://openalex.org/F4320328788","display_name":"Polit National Laboratory for Marine Science and Technology","ror":null}],"has_content":{"grobid_xml":true,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W2937257010.pdf","grobid_xml":"https://content.openalex.org/works/W2937257010.grobid-xml"},"referenced_works_count":20,"referenced_works":["https://openalex.org/W1590684588","https://openalex.org/W1823139046","https://openalex.org/W1969142081","https://openalex.org/W2026804214","https://openalex.org/W2034749070","https://openalex.org/W2034845999","https://openalex.org/W2061290381","https://openalex.org/W2079129888","https://openalex.org/W2101445338","https://openalex.org/W2109295711","https://openalex.org/W2167667767","https://openalex.org/W2574816143","https://openalex.org/W2758319911","https://openalex.org/W2791294971","https://openalex.org/W2793828529","https://openalex.org/W2805392292","https://openalex.org/W2886668792","https://openalex.org/W2897832061","https://openalex.org/W2911824649","https://openalex.org/W6753961885"],"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/W2953138830","https://openalex.org/W2773822314","https://openalex.org/W3176162126","https://openalex.org/W2123144113","https://openalex.org/W3106568383"],"abstract_inverted_index":{"Docking":[0],"technology":[1],"plays":[2],"a":[3,19,75,115,161,168],"critical":[4],"role":[5],"in":[6,139,167,200],"realising":[7],"the":[8,53,56,60,86,103,107,125,131,137,140,146,173,176,183,192,201,208,215],"long-time":[9],"operation":[10,104],"of":[11,52,55,82,106,136,175,203],"autonomous":[12],"underwater":[13],"vehicles":[14],"(AUVs).":[15],"In":[16],"this":[17,63,98],"study,":[18],"binocular":[20,95,108,148],"localisation":[21,109,134,185],"method":[22,32,110,119],"for":[23,35,94,122,218],"AUV":[24,57],"docking":[25,216],"is":[26,33,41,50,66,89,120,187,197],"presented.":[27],"An":[28],"adaptively":[29],"weighted":[30],"OTSU":[31],"developed":[34],"feature":[36,93,100],"extraction.":[37],"The":[38,79,133,178],"foreground":[39],"object":[40],"extracted":[42],"precisely":[43],"without":[44],"mixing":[45],"or":[46],"missing":[47],"lamps,":[48],"which":[49],"independent":[51],"position":[54],"relative":[58,116,194],"to":[59,70,171,214],"station.":[61],"Moreover,":[62],"extraction":[64],"process":[65],"more":[67],"precise":[68],"compared":[69],"other":[71],"segmentation":[72],"methods":[73],"with":[74],"low":[76],"computational":[77],"load.":[78],"mass":[80],"centre":[81],"each":[83],"lamp":[84],"on":[85],"binary":[87],"image":[88],"used":[90],"as":[91,143],"matching":[92,101],"vision.":[96],"Using":[97],"fast":[99],"method,":[102],"frequency":[105],"exceeds":[111],"10":[112],"Hz.":[113],"Meanwhile,":[114],"pose":[117],"estimation":[118],"suggested":[121],"instances":[123],"when":[124],"two":[126],"cameras":[127],"cannot":[128],"capture":[129],"all":[130],"lamps.":[132],"accuracy":[135],"distance":[138],"heading":[141],"direction":[142],"measured":[144],"by":[145],"proposed":[147],"vision":[149],"algorithm":[150],"was":[151,211],"tested":[152],"at":[153],"fixed":[154],"points":[155],"underwater.":[156],"A":[157],"simulation":[158],"experiment":[159],"using":[160],"ship":[162,209],"model":[163,210],"has":[164],"been":[165],"conducted":[166],"laboratory":[169],"pool":[170],"evaluate":[172],"feasibility":[174],"algorithm.":[177],"test":[179],"result":[180],"demonstrates":[181],"that":[182],"average":[184,193],"error":[186,196],"approximately":[188,198],"5":[189],"cm":[190],"and":[191],"location":[195],"2%":[199],"range":[202],"3.6":[204],"m.":[205],"As":[206],"such,":[207],"successfully":[212],"guided":[213],"station":[217],"different":[219],"lateral":[220],"deviations.":[221]},"counts_by_year":[{"year":2026,"cited_by_count":5},{"year":2025,"cited_by_count":4},{"year":2024,"cited_by_count":6},{"year":2023,"cited_by_count":2},{"year":2022,"cited_by_count":9},{"year":2021,"cited_by_count":5},{"year":2020,"cited_by_count":6},{"year":2019,"cited_by_count":1}],"updated_date":"2026-05-21T06:26:12.895304","created_date":"2025-10-10T00:00:00"}