{"id":"https://openalex.org/W2140670968","doi":"https://doi.org/10.1109/robot.2001.933040","title":"Application of extended covariance intersection principle for mosaic-based optical positioning and navigation of underwater vehicles","display_name":"Application of extended covariance intersection principle for mosaic-based optical positioning and navigation of underwater vehicles","publication_year":2002,"publication_date":"2002-11-13","ids":{"openalex":"https://openalex.org/W2140670968","doi":"https://doi.org/10.1109/robot.2001.933040","mag":"2140670968"},"language":"en","primary_location":{"id":"doi:10.1109/robot.2001.933040","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robot.2001.933040","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings 2001 ICRA. IEEE International Conference on Robotics and Automation (Cat. No.01CH37164)","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/A5100734030","display_name":"Xin\u2010Jian Xu","orcid":"https://orcid.org/0000-0001-6088-976X"},"institutions":[{"id":"https://openalex.org/I145608581","display_name":"University of Miami","ror":"https://ror.org/02dgjyy92","country_code":"US","type":"education","lineage":["https://openalex.org/I145608581"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"X. Xu","raw_affiliation_strings":["Underwater Vision and Imaging Laboratory Electrical and Computer Engineering Department, University of Miami, Coral Gables, FL, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Underwater Vision and Imaging Laboratory Electrical and Computer Engineering Department, University of Miami, Coral Gables, FL, USA","institution_ids":["https://openalex.org/I145608581"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5090868495","display_name":"S. Negahdaripour","orcid":"https://orcid.org/0000-0001-5676-5238"},"institutions":[{"id":"https://openalex.org/I145608581","display_name":"University of Miami","ror":"https://ror.org/02dgjyy92","country_code":"US","type":"education","lineage":["https://openalex.org/I145608581"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"S. Negahdaripour","raw_affiliation_strings":["Underwater Vision and Imaging Laboratory Electrical and Computer Engineering Department, University of Miami, Coral Gables, FL, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Underwater Vision and Imaging Laboratory Electrical and Computer Engineering Department, University of Miami, Coral Gables, FL, USA","institution_ids":["https://openalex.org/I145608581"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I145608581"],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":16,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":"3","issue":null,"first_page":"2759","last_page":"2766"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11192","display_name":"Underwater Vehicles and Communication Systems","score":0.9983000159263611,"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":0.9983000159263611,"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":0.9980999827384949,"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/T10711","display_name":"Target Tracking and Data Fusion in Sensor Networks","score":0.9966999888420105,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"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/covariance-intersection","display_name":"Covariance intersection","score":0.9196041822433472},{"id":"https://openalex.org/keywords/intersection","display_name":"Intersection (aeronautics)","score":0.7322054505348206},{"id":"https://openalex.org/keywords/mosaic","display_name":"Mosaic","score":0.7023119926452637},{"id":"https://openalex.org/keywords/covariance","display_name":"Covariance","score":0.7008157968521118},{"id":"https://openalex.org/keywords/kalman-filter","display_name":"Kalman filter","score":0.664445698261261},{"id":"https://openalex.org/keywords/extended-kalman-filter","display_name":"Extended Kalman filter","score":0.6560122966766357},{"id":"https://openalex.org/keywords/sensor-fusion","display_name":"Sensor fusion","score":0.575700044631958},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5699748992919922},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.5434856414794922},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.502465009689331},{"id":"https://openalex.org/keywords/covariance-matrix","display_name":"Covariance matrix","score":0.44251227378845215},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.34517407417297363},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.27614766359329224},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.1864861249923706},{"id":"https://openalex.org/keywords/geography","display_name":"Geography","score":0.14515796303749084},{"id":"https://openalex.org/keywords/statistics","display_name":"Statistics","score":0.10524934530258179},{"id":"https://openalex.org/keywords/aerospace-engineering","display_name":"Aerospace engineering","score":0.09194940328598022}],"concepts":[{"id":"https://openalex.org/C83042196","wikidata":"https://www.wikidata.org/wiki/Q5178898","display_name":"Covariance intersection","level":4,"score":0.9196041822433472},{"id":"https://openalex.org/C64543145","wikidata":"https://www.wikidata.org/wiki/Q162942","display_name":"Intersection (aeronautics)","level":2,"score":0.7322054505348206},{"id":"https://openalex.org/C110739175","wikidata":"https://www.wikidata.org/wiki/Q133067","display_name":"Mosaic","level":2,"score":0.7023119926452637},{"id":"https://openalex.org/C178650346","wikidata":"https://www.wikidata.org/wiki/Q201984","display_name":"Covariance","level":2,"score":0.7008157968521118},{"id":"https://openalex.org/C157286648","wikidata":"https://www.wikidata.org/wiki/Q846780","display_name":"Kalman filter","level":2,"score":0.664445698261261},{"id":"https://openalex.org/C206833254","wikidata":"https://www.wikidata.org/wiki/Q5421817","display_name":"Extended Kalman filter","level":3,"score":0.6560122966766357},{"id":"https://openalex.org/C33954974","wikidata":"https://www.wikidata.org/wiki/Q486494","display_name":"Sensor fusion","level":2,"score":0.575700044631958},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5699748992919922},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.5434856414794922},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.502465009689331},{"id":"https://openalex.org/C185142706","wikidata":"https://www.wikidata.org/wiki/Q1134404","display_name":"Covariance matrix","level":2,"score":0.44251227378845215},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.34517407417297363},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.27614766359329224},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.1864861249923706},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.14515796303749084},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.10524934530258179},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.09194940328598022},{"id":"https://openalex.org/C166957645","wikidata":"https://www.wikidata.org/wiki/Q23498","display_name":"Archaeology","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/robot.2001.933040","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robot.2001.933040","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings 2001 ICRA. IEEE International Conference on Robotics and Automation (Cat. No.01CH37164)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/14","score":0.47999998927116394,"display_name":"Life below water"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":9,"referenced_works":["https://openalex.org/W1488766761","https://openalex.org/W1587210976","https://openalex.org/W2040100938","https://openalex.org/W2105223803","https://openalex.org/W2117196466","https://openalex.org/W2129561060","https://openalex.org/W2148610759","https://openalex.org/W2547100003","https://openalex.org/W6635148844"],"related_works":["https://openalex.org/W2543883930","https://openalex.org/W2034294006","https://openalex.org/W2152662039","https://openalex.org/W2041166599","https://openalex.org/W2144859729","https://openalex.org/W2401337578","https://openalex.org/W2151648638","https://openalex.org/W3084622875","https://openalex.org/W2572601863","https://openalex.org/W2018001152"],"abstract_inverted_index":{"Mosaic-based":[0],"positioning":[1,43],"is":[2,74,106],"a":[3,10,13,28,45],"paradigm":[4],"for":[5,39,57],"the":[6,25,32,41,58,67,72,75,79,82,95,123,134,137],"simultaneous":[7],"construction":[8],"of":[9,27,60,78,84,91,136],"photo-mosaic":[11],"as":[12,44,81,113,115,120,122],"visual":[14],"map,":[15],"and":[16,103],"its":[17],"use":[18],"to":[19,66,107,132],"achieve":[20],"accurate":[21],"positioning.":[22],"We":[23],"discuss":[24],"application":[26],"novel":[29],"fusion":[30,47,59],"principle,":[31],"so-called":[33],"an":[34,117],"extended":[35,68],"covariance":[36,50],"intersection":[37,51],"(ECI),":[38],"addressing":[40],"mosaic-based":[42],"data":[46,129],"problem.":[48],"The":[49,88],"(CI)":[52],"principle":[53],"has":[54],"been":[55],"proposed":[56,138],"highly":[61],"correlated":[62],"data.":[63],"In":[64],"contrast":[65],"Kalman":[69],"filter":[70],"(EKF),":[71],"drawback":[73],"conservative":[76],"nature":[77],"solution,":[80],"extend":[83],"correlation":[85],"becomes":[86],"insignificant.":[87],"primary":[89],"advantage":[90],"ECI,":[92],"by":[93],"decomposing":[94],"estimates":[96],"from":[97,116],"information":[98],"sources":[99],"into":[100],"both":[101],"dependent":[102],"independent":[104],"components,":[105],"arrive":[108],"at":[109],"improved":[110],"estimates,":[111],"neither":[112],"over-optimistic":[114],"EKF,":[118],"nor":[119],"over-conservative":[121],"CI":[124],"solution.":[125],"Experiments":[126],"with":[127],"real":[128],"are":[130],"presented":[131],"evaluate":[133],"performance":[135],"ECI-based":[139],"formulation.":[140]},"counts_by_year":[{"year":2017,"cited_by_count":1},{"year":2016,"cited_by_count":1},{"year":2014,"cited_by_count":1},{"year":2012,"cited_by_count":2}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}
