{"id":"https://openalex.org/W4285801975","doi":"https://doi.org/10.3390/s22145354","title":"Collision Detection and Avoidance for Underwater Vehicles Using Omnidirectional Vision","display_name":"Collision Detection and Avoidance for Underwater Vehicles Using Omnidirectional Vision","publication_year":2022,"publication_date":"2022-07-18","ids":{"openalex":"https://openalex.org/W4285801975","doi":"https://doi.org/10.3390/s22145354","pmid":"https://pubmed.ncbi.nlm.nih.gov/35891038"},"language":"en","primary_location":{"id":"doi:10.3390/s22145354","is_oa":true,"landing_page_url":"https://doi.org/10.3390/s22145354","pdf_url":"https://www.mdpi.com/1424-8220/22/14/5354/pdf?version=1658142800","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/1424-8220/22/14/5354/pdf?version=1658142800","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5072234554","display_name":"Eduardo Ochoa","orcid":"https://orcid.org/0000-0003-3044-8909"},"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":"Eduardo Ochoa","raw_affiliation_strings":["Computer Vision and Robotics Research Institute (VICOROB), University of Girona, 17003 Girona, Spain"],"raw_orcid":"https://orcid.org/0000-0003-3044-8909","affiliations":[{"raw_affiliation_string":"Computer Vision and Robotics Research Institute (VICOROB), University of Girona, 17003 Girona, Spain","institution_ids":["https://openalex.org/I251424209"]}]},{"author_position":"middle","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":["Computer Vision and Robotics Research Institute (VICOROB), University of Girona, 17003 Girona, Spain"],"raw_orcid":"https://orcid.org/0000-0002-4675-9595","affiliations":[{"raw_affiliation_string":"Computer Vision and Robotics Research Institute (VICOROB), University of Girona, 17003 Girona, Spain","institution_ids":["https://openalex.org/I251424209"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5079785494","display_name":"Klemen Isteni\u010d","orcid":"https://orcid.org/0000-0003-1911-1483"},"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":"Klemen Isteni\u010d","raw_affiliation_strings":["Computer Vision and Robotics Research Institute (VICOROB), University of Girona, 17003 Girona, Spain"],"raw_orcid":"https://orcid.org/0000-0003-1911-1483","affiliations":[{"raw_affiliation_string":"Computer Vision and Robotics Research Institute (VICOROB), University of Girona, 17003 Girona, Spain","institution_ids":["https://openalex.org/I251424209"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5007700691","display_name":"Josep Bosch","orcid":"https://orcid.org/0000-0001-8281-7206"},"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":"Josep Bosch","raw_affiliation_strings":["Computer Vision and Robotics Research Institute (VICOROB), University of Girona, 17003 Girona, Spain"],"raw_orcid":"https://orcid.org/0000-0001-8281-7206","affiliations":[{"raw_affiliation_string":"Computer Vision and Robotics Research Institute (VICOROB), University of Girona, 17003 Girona, Spain","institution_ids":["https://openalex.org/I251424209"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5048994950","display_name":"Patryk Cie\u015bl\u0105k","orcid":"https://orcid.org/0000-0002-8599-1012"},"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":"Patryk Cie\u015blak","raw_affiliation_strings":["Computer Vision and Robotics Research Institute (VICOROB), University of Girona, 17003 Girona, Spain"],"raw_orcid":"https://orcid.org/0000-0002-8599-1012","affiliations":[{"raw_affiliation_string":"Computer Vision and Robotics Research Institute (VICOROB), University of Girona, 17003 Girona, Spain","institution_ids":["https://openalex.org/I251424209"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5033242656","display_name":"Rafael Garc\u00eda","orcid":"https://orcid.org/0000-0002-1681-6229"},"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":"Rafael Garc\u00eda","raw_affiliation_strings":["Computer Vision and Robotics Research Institute (VICOROB), University of Girona, 17003 Girona, Spain"],"raw_orcid":"https://orcid.org/0000-0002-1681-6229","affiliations":[{"raw_affiliation_string":"Computer Vision and Robotics Research Institute (VICOROB), University of Girona, 17003 Girona, Spain","institution_ids":["https://openalex.org/I251424209"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":6,"corresponding_author_ids":["https://openalex.org/A5072234554"],"corresponding_institution_ids":["https://openalex.org/I251424209"],"apc_list":{"value":2400,"currency":"CHF","value_usd":2598},"apc_paid":{"value":2400,"currency":"CHF","value_usd":2598},"fwci":1.3201,"has_fulltext":false,"cited_by_count":9,"citation_normalized_percentile":{"value":0.77945964,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":94,"max":98},"biblio":{"volume":"22","issue":"14","first_page":"5354","last_page":"5354"},"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":0.9994999766349792,"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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9991999864578247,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/underwater","display_name":"Underwater","score":0.7154439687728882},{"id":"https://openalex.org/keywords/remotely-operated-underwater-vehicle","display_name":"Remotely operated underwater vehicle","score":0.6481457948684692},{"id":"https://openalex.org/keywords/obstacle-avoidance","display_name":"Obstacle avoidance","score":0.5861497521400452},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5636432766914368},{"id":"https://openalex.org/keywords/robotics","display_name":"Robotics","score":0.5403215885162354},{"id":"https://openalex.org/keywords/collision-avoidance","display_name":"Collision avoidance","score":0.5105065107345581},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5085712671279907},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.506960391998291},{"id":"https://openalex.org/keywords/obstacle","display_name":"Obstacle","score":0.5027542114257812},{"id":"https://openalex.org/keywords/real-time-computing","display_name":"Real-time computing","score":0.46516990661621094},{"id":"https://openalex.org/keywords/key","display_name":"Key (lock)","score":0.4470587968826294},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.42291608452796936},{"id":"https://openalex.org/keywords/remotely-operated-vehicle","display_name":"Remotely operated vehicle","score":0.41528692841529846},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.3880143463611603},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.3545899987220764},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.3329177796840668},{"id":"https://openalex.org/keywords/collision","display_name":"Collision","score":0.23468366265296936},{"id":"https://openalex.org/keywords/computer-security","display_name":"Computer security","score":0.21197274327278137},{"id":"https://openalex.org/keywords/aerospace-engineering","display_name":"Aerospace engineering","score":0.10122132301330566}],"concepts":[{"id":"https://openalex.org/C98083399","wikidata":"https://www.wikidata.org/wiki/Q3246517","display_name":"Underwater","level":2,"score":0.7154439687728882},{"id":"https://openalex.org/C145424490","wikidata":"https://www.wikidata.org/wiki/Q618465","display_name":"Remotely operated underwater vehicle","level":4,"score":0.6481457948684692},{"id":"https://openalex.org/C6683253","wikidata":"https://www.wikidata.org/wiki/Q7075535","display_name":"Obstacle avoidance","level":4,"score":0.5861497521400452},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5636432766914368},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.5403215885162354},{"id":"https://openalex.org/C2780864053","wikidata":"https://www.wikidata.org/wiki/Q5147495","display_name":"Collision avoidance","level":3,"score":0.5105065107345581},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5085712671279907},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.506960391998291},{"id":"https://openalex.org/C2776650193","wikidata":"https://www.wikidata.org/wiki/Q264661","display_name":"Obstacle","level":2,"score":0.5027542114257812},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.46516990661621094},{"id":"https://openalex.org/C26517878","wikidata":"https://www.wikidata.org/wiki/Q228039","display_name":"Key (lock)","level":2,"score":0.4470587968826294},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.42291608452796936},{"id":"https://openalex.org/C64228939","wikidata":"https://www.wikidata.org/wiki/Q618465","display_name":"Remotely operated vehicle","level":2,"score":0.41528692841529846},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.3880143463611603},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.3545899987220764},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3329177796840668},{"id":"https://openalex.org/C121704057","wikidata":"https://www.wikidata.org/wiki/Q352070","display_name":"Collision","level":2,"score":0.23468366265296936},{"id":"https://openalex.org/C38652104","wikidata":"https://www.wikidata.org/wiki/Q3510521","display_name":"Computer security","level":1,"score":0.21197274327278137},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.10122132301330566},{"id":"https://openalex.org/C111368507","wikidata":"https://www.wikidata.org/wiki/Q43518","display_name":"Oceanography","level":1,"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/C199539241","wikidata":"https://www.wikidata.org/wiki/Q7748","display_name":"Law","level":1,"score":0.0},{"id":"https://openalex.org/C17744445","wikidata":"https://www.wikidata.org/wiki/Q36442","display_name":"Political science","level":0,"score":0.0}],"mesh":[{"descriptor_ui":"D000162","descriptor_name":"Acoustics","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D000162","descriptor_name":"Acoustics","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D000162","descriptor_name":"Acoustics","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":"D012371","descriptor_name":"Robotics","qualifier_ui":"Q000379","qualifier_name":"methods","is_major_topic":true},{"descriptor_ui":"D012371","descriptor_name":"Robotics","qualifier_ui":"Q000379","qualifier_name":"methods","is_major_topic":true},{"descriptor_ui":"D012371","descriptor_name":"Robotics","qualifier_ui":"Q000379","qualifier_name":"methods","is_major_topic":true}],"locations_count":6,"locations":[{"id":"doi:10.3390/s22145354","is_oa":true,"landing_page_url":"https://doi.org/10.3390/s22145354","pdf_url":"https://www.mdpi.com/1424-8220/22/14/5354/pdf?version=1658142800","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:35891038","is_oa":false,"landing_page_url":"https://pubmed.ncbi.nlm.nih.gov/35891038","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:8b964858381b4ae3b512e923edff5eb5","is_oa":true,"landing_page_url":"https://doaj.org/article/8b964858381b4ae3b512e923edff5eb5","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 22, Iss 14, p 5354 (2022)","raw_type":"article"},{"id":"pmh:oai:dugi-doc.udg.edu:10256/21442","is_oa":true,"landing_page_url":"http://hdl.handle.net/10256/21442","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":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Articles publicats (D-ATC)","raw_type":"peer-reviewed"},{"id":"pmh:oai:mdpi.com:/1424-8220/22/14/5354/","is_oa":true,"landing_page_url":"https://dx.doi.org/10.3390/s22145354","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 22; Issue 14; Pages: 5354","raw_type":"Text"},{"id":"pmh:oai:pubmedcentral.nih.gov:9315794","is_oa":true,"landing_page_url":"https://www.ncbi.nlm.nih.gov/pmc/articles/9315794","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/s22145354","is_oa":true,"landing_page_url":"https://doi.org/10.3390/s22145354","pdf_url":"https://www.mdpi.com/1424-8220/22/14/5354/pdf?version=1658142800","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":0.800000011920929,"id":"https://metadata.un.org/sdg/14"}],"awards":[{"id":"https://openalex.org/G4995077122","display_name":null,"funder_award_id":"2021FI_B1_00154","funder_id":"https://openalex.org/F4320322930","funder_display_name":"Ministerio de Ciencia e Innovaci\u00f3n"},{"id":"https://openalex.org/G6329851808","display_name":null,"funder_award_id":"H2020-INFRAIA-2018-2020-824077","funder_id":"https://openalex.org/F4320322930","funder_display_name":"Ministerio de Ciencia e Innovaci\u00f3n"},{"id":"https://openalex.org/G664822755","display_name":null,"funder_award_id":"CTM2017-83075-R","funder_id":"https://openalex.org/F4320322930","funder_display_name":"Ministerio de Ciencia e Innovaci\u00f3n"},{"id":"https://openalex.org/G8892896033","display_name":null,"funder_award_id":"PID2020-116736RV-IOO","funder_id":"https://openalex.org/F4320322930","funder_display_name":"Ministerio de Ciencia e Innovaci\u00f3n"}],"funders":[{"id":"https://openalex.org/F4320322930","display_name":"Ministerio de Ciencia e Innovaci\u00f3n","ror":"https://ror.org/034900433"}],"has_content":{"pdf":true,"grobid_xml":true},"content_urls":{"pdf":"https://content.openalex.org/works/W4285801975.pdf","grobid_xml":"https://content.openalex.org/works/W4285801975.grobid-xml"},"referenced_works_count":73,"referenced_works":["https://openalex.org/W24289143","https://openalex.org/W117604884","https://openalex.org/W1535948966","https://openalex.org/W1585938803","https://openalex.org/W1612997784","https://openalex.org/W1856330415","https://openalex.org/W1966255301","https://openalex.org/W1974909294","https://openalex.org/W1979266466","https://openalex.org/W1983259923","https://openalex.org/W1994883108","https://openalex.org/W2002116299","https://openalex.org/W2005102720","https://openalex.org/W2009153644","https://openalex.org/W2017063796","https://openalex.org/W2041630536","https://openalex.org/W2045715871","https://openalex.org/W2048093873","https://openalex.org/W2069830673","https://openalex.org/W2076917298","https://openalex.org/W2095468883","https://openalex.org/W2097545165","https://openalex.org/W2104431395","https://openalex.org/W2113243634","https://openalex.org/W2116113712","https://openalex.org/W2116772004","https://openalex.org/W2117211893","https://openalex.org/W2125409550","https://openalex.org/W2126654773","https://openalex.org/W2136014417","https://openalex.org/W2151290401","https://openalex.org/W2154647909","https://openalex.org/W2177274602","https://openalex.org/W2198527813","https://openalex.org/W2202251471","https://openalex.org/W2203271201","https://openalex.org/W2218842719","https://openalex.org/W2244938811","https://openalex.org/W2307729741","https://openalex.org/W2502882642","https://openalex.org/W2535547924","https://openalex.org/W2561687851","https://openalex.org/W2564632156","https://openalex.org/W2621274416","https://openalex.org/W2737529802","https://openalex.org/W2762248135","https://openalex.org/W2767527030","https://openalex.org/W2768393699","https://openalex.org/W2788608285","https://openalex.org/W2790522716","https://openalex.org/W2792791722","https://openalex.org/W2892220577","https://openalex.org/W2909695427","https://openalex.org/W2910081881","https://openalex.org/W2914031928","https://openalex.org/W2951158050","https://openalex.org/W2963061128","https://openalex.org/W2963392613","https://openalex.org/W2967333821","https://openalex.org/W2980107516","https://openalex.org/W2981105092","https://openalex.org/W3007677199","https://openalex.org/W3043971245","https://openalex.org/W3102327032","https://openalex.org/W3112856749","https://openalex.org/W3148378655","https://openalex.org/W3152894974","https://openalex.org/W3159309529","https://openalex.org/W3162681918","https://openalex.org/W3165943459","https://openalex.org/W3182473175","https://openalex.org/W4238195818","https://openalex.org/W6741312563"],"related_works":["https://openalex.org/W2930076404","https://openalex.org/W4253519380","https://openalex.org/W2071768959","https://openalex.org/W2071957557","https://openalex.org/W2596413128","https://openalex.org/W2746169463","https://openalex.org/W2927959334","https://openalex.org/W4391249562","https://openalex.org/W4382394583","https://openalex.org/W2356867392"],"abstract_inverted_index":{"Exploration":[0],"of":[1,6,10,33,78,138,147,157,176],"marine":[2],"habitats":[3],"is":[4,47,106,212],"one":[5],"the":[7,26,31,81,86,136,148,174,179,184,188,195],"key":[8],"pillars":[9],"underwater":[11,34,44,56,113],"science,":[12],"which":[13,64],"often":[14,48,59],"involves":[15,28],"collecting":[16],"images":[17],"at":[18,69],"close":[19,24],"range.":[20],"As":[21],"acquiring":[22],"imagery":[23],"to":[25,83,142,172,191,199,227],"seabed":[27],"multiple":[29],"hazards,":[30],"safety":[32],"vehicles,":[35],"such":[36,91],"as":[37,92],"remotely":[38],"operated":[39],"vehicles":[40,45,229],"(ROVs)":[41],"and":[42,98,100,232],"autonomous":[43],"(AUVs),":[46],"compromised.":[49],"Common":[50],"applications":[51],"for":[52,111,129],"obstacle":[53],"avoidance":[54],"in":[55,103,131,178,207,230],"environments":[57,105],"are":[58],"conducted":[60],"with":[61,127],"acoustic":[62],"sensors,":[63],"cannot":[65],"be":[66],"used":[67],"reliably":[68],"very":[70],"short":[71],"distances,":[72],"thus":[73],"requiring":[74],"a":[75,120,144,152,163,170,213,217],"high":[76],"level":[77],"attention":[79],"from":[80],"operator":[82],"avoid":[84],"damaging":[85],"robot.":[87],"Therefore,":[88],"developing":[89],"capabilities":[90,128],"advanced":[93],"assisted":[94],"mapping,":[95],"spatial":[96],"awareness":[97],"safety,":[99],"user":[101],"immersion":[102],"confined":[104],"an":[107,125],"important":[108],"research":[109],"area":[110],"human-operated":[112],"robotics.":[114],"In":[115],"this":[116],"paper,":[117],"we":[118,150],"present":[119],"novel":[121],"approach":[122],"that":[123,183,194,222],"provides":[124],"ROV":[126],"navigation":[130],"complex":[132,231],"environments.":[133,234],"By":[134],"leveraging":[135],"ability":[137],"omnidirectional":[139],"multi-camera":[140],"systems":[141],"provide":[143],"comprehensive":[145,218],"view":[146],"environment,":[149],"create":[151],"360\u00b0":[153],"real-time":[154],"point":[155],"cloud":[156],"nearby":[158],"objects":[159],"or":[160],"structures":[161],"within":[162],"visual":[164],"SLAM":[165],"framework.":[166],"We":[167,181],"also":[168],"develop":[169],"strategy":[171],"assess":[173],"risk":[175,189],"obstacles":[177,206],"vicinity.":[180],"show":[182],"system":[185,211,221],"can":[186,197],"use":[187,198],"information":[190],"generate":[192],"warnings":[193],"robot":[196],"perform":[200],"evasive":[201],"maneuvers":[202],"when":[203],"approaching":[204],"dangerous":[205],"real-world":[208],"scenarios.":[209],"This":[210],"first":[214],"step":[215],"towards":[216],"pilot":[219],"assistance":[220],"will":[223],"enable":[224],"inexperienced":[225],"pilots":[226],"operate":[228],"cluttered":[233]},"counts_by_year":[{"year":2025,"cited_by_count":3},{"year":2024,"cited_by_count":4},{"year":2023,"cited_by_count":2}],"updated_date":"2026-05-06T08:25:59.206177","created_date":"2025-10-10T00:00:00"}
