{"id":"https://openalex.org/W3207578480","doi":"https://doi.org/10.3390/s21206740","title":"Semantic Mapping for Autonomous Subsea Intervention","display_name":"Semantic Mapping for Autonomous Subsea Intervention","publication_year":2021,"publication_date":"2021-10-11","ids":{"openalex":"https://openalex.org/W3207578480","doi":"https://doi.org/10.3390/s21206740","mag":"3207578480","pmid":"https://pubmed.ncbi.nlm.nih.gov/34695951"},"language":"en","primary_location":{"id":"doi:10.3390/s21206740","is_oa":true,"landing_page_url":"https://doi.org/10.3390/s21206740","pdf_url":"https://www.mdpi.com/1424-8220/21/20/6740/pdf?version=1634702714","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/1424-8220/21/20/6740/pdf?version=1634702714","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5076251106","display_name":"Guillem Vallicrosa","orcid":"https://orcid.org/0000-0001-5942-1895"},"institutions":[{"id":"https://openalex.org/I251424209","display_name":"Universitat de Girona","ror":"https://ror.org/01xdxns91","country_code":"ES","type":"education","lineage":["https://openalex.org/I251424209"]}],"countries":["ES"],"is_corresponding":true,"raw_author_name":"Guillem Vallicrosa","raw_affiliation_strings":["Underwater Robotics Research Center (CIRS), Computer Vision and Robotics Institute (VICOROB), Universitat de Girona, Parc Cient\u00edfic i Tecnol\u00f2gic de la UdG. C/Pic de Peguera 13, 17003 Girona, Spain"],"raw_orcid":"https://orcid.org/0000-0001-5942-1895","affiliations":[{"raw_affiliation_string":"Underwater Robotics Research Center (CIRS), Computer Vision and Robotics Institute (VICOROB), Universitat de Girona, Parc Cient\u00edfic i Tecnol\u00f2gic de la UdG. C/Pic de Peguera 13, 17003 Girona, Spain","institution_ids":["https://openalex.org/I251424209"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5025416034","display_name":"Khadidja Himri","orcid":"https://orcid.org/0000-0001-7378-5353"},"institutions":[{"id":"https://openalex.org/I251424209","display_name":"Universitat de Girona","ror":"https://ror.org/01xdxns91","country_code":"ES","type":"education","lineage":["https://openalex.org/I251424209"]}],"countries":["ES"],"is_corresponding":false,"raw_author_name":"Khadidja Himri","raw_affiliation_strings":["Underwater Robotics Research Center (CIRS), Computer Vision and Robotics Institute (VICOROB), Universitat de Girona, Parc Cient\u00edfic i Tecnol\u00f2gic de la UdG. C/Pic de Peguera 13, 17003 Girona, Spain"],"raw_orcid":"https://orcid.org/0000-0001-7378-5353","affiliations":[{"raw_affiliation_string":"Underwater Robotics Research Center (CIRS), Computer Vision and Robotics Institute (VICOROB), Universitat de Girona, Parc Cient\u00edfic i Tecnol\u00f2gic de la UdG. C/Pic de Peguera 13, 17003 Girona, Spain","institution_ids":["https://openalex.org/I251424209"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5057442523","display_name":"Pere Ridao","orcid":"https://orcid.org/0000-0002-1724-3012"},"institutions":[{"id":"https://openalex.org/I251424209","display_name":"Universitat de Girona","ror":"https://ror.org/01xdxns91","country_code":"ES","type":"education","lineage":["https://openalex.org/I251424209"]}],"countries":["ES"],"is_corresponding":false,"raw_author_name":"Pere Ridao","raw_affiliation_strings":["Underwater Robotics Research Center (CIRS), Computer Vision and Robotics Institute (VICOROB), Universitat de Girona, Parc Cient\u00edfic i Tecnol\u00f2gic de la UdG. C/Pic de Peguera 13, 17003 Girona, Spain"],"raw_orcid":"https://orcid.org/0000-0002-1724-3012","affiliations":[{"raw_affiliation_string":"Underwater Robotics Research Center (CIRS), Computer Vision and Robotics Institute (VICOROB), Universitat de Girona, Parc Cient\u00edfic i Tecnol\u00f2gic de la UdG. C/Pic de Peguera 13, 17003 Girona, Spain","institution_ids":["https://openalex.org/I251424209"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5082711449","display_name":"Nuno Gracias","orcid":"https://orcid.org/0000-0002-4675-9595"},"institutions":[{"id":"https://openalex.org/I251424209","display_name":"Universitat de Girona","ror":"https://ror.org/01xdxns91","country_code":"ES","type":"education","lineage":["https://openalex.org/I251424209"]}],"countries":["ES"],"is_corresponding":false,"raw_author_name":"Nuno Gracias","raw_affiliation_strings":["Underwater Robotics Research Center (CIRS), Computer Vision and Robotics Institute (VICOROB), Universitat de Girona, Parc Cient\u00edfic i Tecnol\u00f2gic de la UdG. C/Pic de Peguera 13, 17003 Girona, Spain"],"raw_orcid":"https://orcid.org/0000-0002-4675-9595","affiliations":[{"raw_affiliation_string":"Underwater Robotics Research Center (CIRS), Computer Vision and Robotics Institute (VICOROB), Universitat de Girona, Parc Cient\u00edfic i Tecnol\u00f2gic de la UdG. C/Pic de Peguera 13, 17003 Girona, Spain","institution_ids":["https://openalex.org/I251424209"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":["https://openalex.org/A5076251106"],"corresponding_institution_ids":["https://openalex.org/I251424209"],"apc_list":{"value":2400,"currency":"CHF","value_usd":2673},"apc_paid":{"value":2400,"currency":"CHF","value_usd":2673},"fwci":3.2285,"has_fulltext":true,"cited_by_count":5,"citation_normalized_percentile":{"value":0.94668232,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":90,"max":97},"biblio":{"volume":"21","issue":"20","first_page":"6740","last_page":"6740"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9994999766349792,"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":0.9994999766349792,"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":0.9987000226974487,"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":0.9896000027656555,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.696717381477356},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.6819086074829102},{"id":"https://openalex.org/keywords/simultaneous-localization-and-mapping","display_name":"Simultaneous localization and mapping","score":0.650236964225769},{"id":"https://openalex.org/keywords/object","display_name":"Object (grammar)","score":0.6297465562820435},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5907483100891113},{"id":"https://openalex.org/keywords/point-cloud","display_name":"Point cloud","score":0.5269287824630737},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.4948102831840515},{"id":"https://openalex.org/keywords/feature","display_name":"Feature (linguistics)","score":0.4862998425960541},{"id":"https://openalex.org/keywords/process","display_name":"Process (computing)","score":0.47044509649276733},{"id":"https://openalex.org/keywords/cognitive-neuroscience-of-visual-object-recognition","display_name":"Cognitive neuroscience of visual object recognition","score":0.4233313798904419},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.35915714502334595}],"concepts":[{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.696717381477356},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6819086074829102},{"id":"https://openalex.org/C86369673","wikidata":"https://www.wikidata.org/wiki/Q1203659","display_name":"Simultaneous localization and mapping","level":4,"score":0.650236964225769},{"id":"https://openalex.org/C2781238097","wikidata":"https://www.wikidata.org/wiki/Q175026","display_name":"Object (grammar)","level":2,"score":0.6297465562820435},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5907483100891113},{"id":"https://openalex.org/C131979681","wikidata":"https://www.wikidata.org/wiki/Q1899648","display_name":"Point cloud","level":2,"score":0.5269287824630737},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.4948102831840515},{"id":"https://openalex.org/C2776401178","wikidata":"https://www.wikidata.org/wiki/Q12050496","display_name":"Feature (linguistics)","level":2,"score":0.4862998425960541},{"id":"https://openalex.org/C98045186","wikidata":"https://www.wikidata.org/wiki/Q205663","display_name":"Process (computing)","level":2,"score":0.47044509649276733},{"id":"https://openalex.org/C64876066","wikidata":"https://www.wikidata.org/wiki/Q5141226","display_name":"Cognitive neuroscience of visual object recognition","level":3,"score":0.4233313798904419},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.35915714502334595},{"id":"https://openalex.org/C138885662","wikidata":"https://www.wikidata.org/wiki/Q5891","display_name":"Philosophy","level":0,"score":0.0},{"id":"https://openalex.org/C41895202","wikidata":"https://www.wikidata.org/wiki/Q8162","display_name":"Linguistics","level":1,"score":0.0},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0}],"mesh":[{"descriptor_ui":"D001499","descriptor_name":"Bayes Theorem","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D001499","descriptor_name":"Bayes Theorem","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D001499","descriptor_name":"Bayes Theorem","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D006801","descriptor_name":"Humans","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D006801","descriptor_name":"Humans","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D006801","descriptor_name":"Humans","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D012660","descriptor_name":"Semantics","qualifier_ui":null,"qualifier_name":null,"is_major_topic":true},{"descriptor_ui":"D012660","descriptor_name":"Semantics","qualifier_ui":null,"qualifier_name":null,"is_major_topic":true},{"descriptor_ui":"D012660","descriptor_name":"Semantics","qualifier_ui":null,"qualifier_name":null,"is_major_topic":true},{"descriptor_ui":"D014796","descriptor_name":"Visual Perception","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D014796","descriptor_name":"Visual Perception","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D014796","descriptor_name":"Visual Perception","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D021641","descriptor_name":"Recognition, Psychology","qualifier_ui":null,"qualifier_name":null,"is_major_topic":true},{"descriptor_ui":"D021641","descriptor_name":"Recognition, Psychology","qualifier_ui":null,"qualifier_name":null,"is_major_topic":true},{"descriptor_ui":"D021641","descriptor_name":"Recognition, Psychology","qualifier_ui":null,"qualifier_name":null,"is_major_topic":true}],"locations_count":6,"locations":[{"id":"doi:10.3390/s21206740","is_oa":true,"landing_page_url":"https://doi.org/10.3390/s21206740","pdf_url":"https://www.mdpi.com/1424-8220/21/20/6740/pdf?version=1634702714","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:34695951","is_oa":false,"landing_page_url":"https://pubmed.ncbi.nlm.nih.gov/34695951","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:dugi-doc:10256/20029","is_oa":true,"landing_page_url":"http://hdl.handle.net/10256/20029","pdf_url":null,"source":{"id":"https://openalex.org/S4306401633","display_name":"Universitat de Girona Digital Repository (Universitat de Girona)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I251424209","host_organization_name":"Universitat de Girona","host_organization_lineage":["https://openalex.org/I251424209"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"acceptedVersion","is_accepted":true,"is_published":false,"raw_source_name":"Sensors, 2021, vol. 21, n\u00fam. 20, p. 6740","raw_type":"info:eu-repo/semantics/article"},{"id":"pmh:oai:doaj.org/article:1a9afaa2072047bfa1cfa3cac622035c","is_oa":true,"landing_page_url":"https://doaj.org/article/1a9afaa2072047bfa1cfa3cac622035c","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 21, Iss 20, p 6740 (2021)","raw_type":"article"},{"id":"pmh:oai:mdpi.com:/1424-8220/21/20/6740/","is_oa":true,"landing_page_url":"https://dx.doi.org/10.3390/s21206740","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; Volume 21; Issue 20; Pages: 6740","raw_type":"Text"},{"id":"pmh:oai:pubmedcentral.nih.gov:8538227","is_oa":true,"landing_page_url":"https://www.ncbi.nlm.nih.gov/pmc/articles/8538227","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/s21206740","is_oa":true,"landing_page_url":"https://doi.org/10.3390/s21206740","pdf_url":"https://www.mdpi.com/1424-8220/21/20/6740/pdf?version=1634702714","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":[{"display_name":"Life below water","score":0.7900000214576721,"id":"https://metadata.un.org/sdg/14"}],"awards":[{"id":"https://openalex.org/G1859160834","display_name":null,"funder_award_id":"DPI2017-86372-C3-2-R","funder_id":"https://openalex.org/F4320326262","funder_display_name":"Ministerio de Asuntos Econ\u00f3micos y Transformaci\u00f3n Digital, Gobierno de Espa\u00f1a"},{"id":"https://openalex.org/G5753968708","display_name":null,"funder_award_id":"H2020-INFRAIA-2017-1-twostage-731103","funder_id":"https://openalex.org/F4320338338","funder_display_name":"H2020 Research Infrastructures"}],"funders":[{"id":"https://openalex.org/F4320322930","display_name":"Ministerio de Ciencia e Innovaci\u00f3n","ror":"https://ror.org/034900433"},{"id":"https://openalex.org/F4320326262","display_name":"Ministerio de Asuntos Econ\u00f3micos y Transformaci\u00f3n Digital, Gobierno de Espa\u00f1a","ror":"https://ror.org/03sv46s19"},{"id":"https://openalex.org/F4320338338","display_name":"H2020 Research Infrastructures","ror":null}],"has_content":{"grobid_xml":true,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W3207578480.pdf","grobid_xml":"https://content.openalex.org/works/W3207578480.grobid-xml"},"referenced_works_count":61,"referenced_works":["https://openalex.org/W194047500","https://openalex.org/W1518169716","https://openalex.org/W1536303072","https://openalex.org/W1727070462","https://openalex.org/W1872879266","https://openalex.org/W1964502729","https://openalex.org/W1969058260","https://openalex.org/W1974959176","https://openalex.org/W1976342307","https://openalex.org/W1978930763","https://openalex.org/W1983879820","https://openalex.org/W1984469841","https://openalex.org/W1987518424","https://openalex.org/W1992183721","https://openalex.org/W2006808347","https://openalex.org/W2007200979","https://openalex.org/W2013402723","https://openalex.org/W2040697853","https://openalex.org/W2045431317","https://openalex.org/W2049351243","https://openalex.org/W2063463366","https://openalex.org/W2076322530","https://openalex.org/W2096156812","https://openalex.org/W2107402720","https://openalex.org/W2115992143","https://openalex.org/W2161740811","https://openalex.org/W2162201315","https://openalex.org/W2162731263","https://openalex.org/W2179600242","https://openalex.org/W2339491896","https://openalex.org/W2557465155","https://openalex.org/W2563972978","https://openalex.org/W2607515124","https://openalex.org/W2612848726","https://openalex.org/W2772514013","https://openalex.org/W2796340014","https://openalex.org/W2799968194","https://openalex.org/W2893929991","https://openalex.org/W2897816641","https://openalex.org/W2936503027","https://openalex.org/W2964332807","https://openalex.org/W2965779981","https://openalex.org/W2966981832","https://openalex.org/W2972571107","https://openalex.org/W2979862039","https://openalex.org/W2998553944","https://openalex.org/W3003437478","https://openalex.org/W3010665872","https://openalex.org/W3022030198","https://openalex.org/W3029526305","https://openalex.org/W3039448353","https://openalex.org/W3116675231","https://openalex.org/W3116949188","https://openalex.org/W3134170491","https://openalex.org/W3134978518","https://openalex.org/W3155824738","https://openalex.org/W3161454478","https://openalex.org/W4241266354","https://openalex.org/W4249074720","https://openalex.org/W4256061733","https://openalex.org/W6662671384"],"related_works":["https://openalex.org/W3016928466","https://openalex.org/W4389574804","https://openalex.org/W2936725271","https://openalex.org/W3150655618","https://openalex.org/W3108295644","https://openalex.org/W1578717197","https://openalex.org/W2122871747","https://openalex.org/W1750372561","https://openalex.org/W1501082329","https://openalex.org/W3114279067"],"abstract_inverted_index":{"This":[0,160,197],"paper":[1],"presents":[2],"a":[3,7,22,46,49,75,138,142,148,216],"method":[4,28],"to":[5,10,105,111,122,165,174,207,229],"build":[6],"semantic":[8,217],"map":[9,113,125,140,218],"assist":[11],"an":[12],"underwater":[13],"vehicle-manipulator":[14],"system":[15,66],"in":[16,21,87,192,246],"performing":[17],"intervention":[18],"tasks":[19],"autonomously":[20],"submerged":[23],"man-made":[24],"pipe":[25,158,195],"structure.":[26,232],"The":[27,53,90,135,210],"is":[29,72,162,172,215],"based":[30],"on":[31],"the":[32,84,95,100,106,112,124,127,166,176,183,202,213,230,234,237,247],"integration":[33],"of":[34,48,83,185,194,200,212,220,239],"feature-based":[35],"simultaneous":[36],"localization":[37],"and":[38,41,61,63,71,97,102,126,141,156,226,236],"mapping":[39],"(SLAM)":[40],"3D":[42,80],"object":[43,91,154,167,177,187,205],"recognition":[44,92,168],"using":[45,179],"database":[47],"priori":[50],"known":[51],"objects.":[52],"robot":[54,128],"uses":[55,120],"Doppler":[56],"velocity":[57],"log":[58],"(DVL),":[59],"pressure,":[60],"attitude":[62],"heading":[64],"reference":[65],"(AHRS)":[67],"sensors":[68],"for":[69,151],"navigation":[70,129],"equipped":[73],"with":[74],"laser":[76],"scanner":[77],"providing":[78],"non-coloured":[79],"point":[81],"clouds":[82],"inspected":[85],"structure":[86],"real":[88,231],"time.":[89],"module":[93],"recognises":[94],"pipes":[96,221],"objects":[98,240],"within":[99],"scan":[101],"passes":[103],"them":[104,110,121],"SLAM,":[107],"which":[108,189],"adds":[109],"if":[114,130],"not":[115],"yet":[116],"observed.":[117],"Otherwise,":[118],"it":[119,146,171],"correct":[123],"they":[131],"were":[132],"already":[133,203],"mapped.":[134],"SLAM":[136],"provides":[137,147],"consistent":[139],"drift-less":[143],"navigation.":[144],"Moreover,":[145],"global":[149],"identifier":[150],"every":[152],"observed":[153],"instance":[155],"its":[157],"connectivity.":[159,196],"information":[161],"fed":[163],"back":[164],"module,":[169],"where":[170],"used":[173],"estimate":[175],"classes":[178,188],"Bayesian":[180],"techniques":[181],"over":[182],"set":[184],"those":[186],"are":[190],"compatible":[191],"terms":[193],"allows":[198],"fusing":[199],"all":[201],"available":[204],"observations":[206],"improve":[208],"recognition.":[209],"outcome":[211],"process":[214],"made":[219],"connected":[222],"through":[223],"valves,":[224],"elbows":[225],"tees":[227],"conforming":[228],"Knowing":[233],"class":[235],"position":[238],"will":[241],"enable":[242],"high-level":[243],"manipulation":[244],"commands":[245],"near":[248],"future.":[249]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":1},{"year":2022,"cited_by_count":2}],"updated_date":"2026-07-22T07:51:19.307946","created_date":"2025-10-10T00:00:00"}
