{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,6,4]],"date-time":"2026-06-04T14:07:28Z","timestamp":1780582048689,"version":"3.54.1"},"reference-count":55,"publisher":"Institute of Electrical and Electronics Engineers (IEEE)","license":[{"start":{"date-parts":[[2025,1,1]],"date-time":"2025-01-01T00:00:00Z","timestamp":1735689600000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by-nc-nd\/4.0\/"}],"funder":[{"name":"JSPS KAKENHI","award":["23K19993"],"award-info":[{"award-number":["23K19993"]}]},{"name":"JSPS KAKENHI","award":["24K20867"],"award-info":[{"award-number":["24K20867"]}]},{"name":"JSPS KAKENHI","award":["25H01133"],"award-info":[{"award-number":["25H01133"]}]}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["IEEE Trans. Robot."],"published-print":{"date-parts":[[2025]]},"DOI":"10.1109\/tro.2025.3562048","type":"journal-article","created":{"date-parts":[[2025,4,16]],"date-time":"2025-04-16T17:54:33Z","timestamp":1744826073000},"page":"2970-2989","source":"Crossref","is-referenced-by-count":8,"title":["ACSim: A Novel Acoustic Camera Simulator With Recursive Ray Tracing, Artifact Modeling, and Ground Truthing"],"prefix":"10.1109","volume":"41","author":[{"ORCID":"https:\/\/orcid.org\/0000-0002-8665-3437","authenticated-orcid":false,"given":"Yusheng","family":"Wang","sequence":"first","affiliation":[{"name":"Research into Artifacts, Center for Engineering, The University of Tokyo, Bunkyo, Japan"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-0828-6627","authenticated-orcid":false,"given":"Yonghoon","family":"Ji","sequence":"additional","affiliation":[{"name":"Graduate School of Advanced Science and Technology, Japan Advanced Institute of Science and Technology, Ishikawa, Japan"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Hiroshi","family":"Tsuchiya","sequence":"additional","affiliation":[{"name":"Research Institute, Wakachiku Construction Company Ltd., Chiba, Japan"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-4738-2275","authenticated-orcid":false,"given":"Jun","family":"Ota","sequence":"additional","affiliation":[{"name":"Research into Artifacts, Center for Engineering, The University of Tokyo, Bunkyo, Japan"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-9482-497X","authenticated-orcid":false,"given":"Hajime","family":"Asama","sequence":"additional","affiliation":[{"name":"Tokyo College, The University of Tokyo, Bunkyo, Japan"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-1280-069X","authenticated-orcid":false,"given":"Atsushi","family":"Yamashita","sequence":"additional","affiliation":[{"name":"Department of Human and Engineered Environmental Studies, Graduate School of Frontier Sciences, The University of Tokyo, Bunkyo, Japan"}],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"263","reference":[{"key":"ref1","doi-asserted-by":"publisher","DOI":"10.1002\/rob.21991"},{"key":"ref2","doi-asserted-by":"publisher","DOI":"10.1109\/JOE.2020.3033036"},{"key":"ref3","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2013.2260952"},{"key":"ref4","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2018.2809510"},{"key":"ref5","doi-asserted-by":"publisher","DOI":"10.1109\/UT.2019.8734466"},{"key":"ref6","doi-asserted-by":"publisher","DOI":"10.1016\/j.oceaneng.2017.12.007"},{"key":"ref7","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA40945.2020.9197042"},{"key":"ref8","doi-asserted-by":"publisher","DOI":"10.1016\/j.ijleo.2015.07.187"},{"key":"ref9","doi-asserted-by":"publisher","DOI":"10.23919\/OCEANS.2013.6741048"},{"key":"ref10","doi-asserted-by":"publisher","DOI":"10.1109\/EEEIC.2015.7165431"},{"key":"ref11","doi-asserted-by":"publisher","DOI":"10.1109\/URAI.2018.8441870"},{"key":"ref12","doi-asserted-by":"publisher","DOI":"10.1016\/j.cag.2017.08.008"},{"key":"ref13","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA46639.2022.9812353"},{"key":"ref14","doi-asserted-by":"publisher","DOI":"10.1109\/OCEANS.2016.7761071"},{"key":"ref15","doi-asserted-by":"publisher","DOI":"10.1109\/JOE.2015.2503818"},{"key":"ref16","doi-asserted-by":"publisher","DOI":"10.1109\/UR57808.2023.10202279"},{"key":"ref17","doi-asserted-by":"publisher","DOI":"10.1109\/IROS47612.2022.9981119"},{"key":"ref18","doi-asserted-by":"publisher","DOI":"10.3389\/frobt.2021.706646"},{"key":"ref19","doi-asserted-by":"publisher","DOI":"10.1109\/JSEN.2019.2925830"},{"key":"ref20","doi-asserted-by":"publisher","DOI":"10.1109\/JOE.2023.3341466"},{"key":"ref21","doi-asserted-by":"publisher","DOI":"10.1080\/01691864.2021.1873845"},{"key":"ref22","doi-asserted-by":"publisher","DOI":"10.1117\/12.2590004"},{"key":"ref23","doi-asserted-by":"publisher","DOI":"10.1109\/SII55687.2023.10039267"},{"key":"ref24","doi-asserted-by":"publisher","DOI":"10.3906\/elk-1305-188"},{"key":"ref25","doi-asserted-by":"publisher","DOI":"10.1016\/j.apacoust.2023.109465"},{"key":"ref26","article-title":"Deep learning from shallow dives: Sonar image generation and training for underwater object detection","author":"Lee","year":"2018"},{"key":"ref27","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2021.3058911"},{"key":"ref28","doi-asserted-by":"publisher","DOI":"10.3390\/jmse11061103"},{"key":"ref29","doi-asserted-by":"publisher","DOI":"10.1109\/UT.2002.1002424"},{"key":"ref30","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA48891.2023.10161206"},{"key":"ref31","doi-asserted-by":"publisher","DOI":"10.1121\/1.2766781"},{"key":"ref32","doi-asserted-by":"publisher","DOI":"10.1145\/358876.358882"},{"key":"ref33","doi-asserted-by":"publisher","DOI":"10.21236\/ADA407887"},{"key":"ref34","doi-asserted-by":"publisher","DOI":"10.1109\/CVPR.2010.5539932"},{"key":"ref35","doi-asserted-by":"publisher","DOI":"10.1016\/j.patrec.2011.06.007"},{"key":"ref36","doi-asserted-by":"publisher","DOI":"10.1109\/TIP.2003.818017"},{"key":"ref37","doi-asserted-by":"publisher","DOI":"10.1109\/JOE.2017.2751139"},{"key":"ref38","doi-asserted-by":"publisher","DOI":"10.1002\/rob.21461"},{"key":"ref39","doi-asserted-by":"publisher","DOI":"10.1109\/TSMC.1979.4310076"},{"key":"ref40","doi-asserted-by":"publisher","DOI":"10.1016\/j.imavis.2004.02.006"},{"key":"ref41","first-page":"2366","article-title":"Depth map prediction from a single image using a multi-scale deep network","volume-title":"Proc. Int. Conf. Adv. Neural Inf. Process. Syst.","author":"Eigen","year":"2014"},{"key":"ref42","doi-asserted-by":"publisher","DOI":"10.1016\/j.isprsjprs.2019.01.013"},{"key":"ref43","doi-asserted-by":"publisher","DOI":"10.1109\/IROS40897.2019.8968121"},{"key":"ref44","doi-asserted-by":"publisher","DOI":"10.1109\/IROS55552.2023.10341601"},{"key":"ref45","doi-asserted-by":"publisher","DOI":"10.1109\/IROS47612.2022.9982049"},{"key":"ref46","doi-asserted-by":"publisher","DOI":"10.1007\/978-3-030-58536-5_24"},{"key":"ref47","doi-asserted-by":"publisher","DOI":"10.1109\/CVPR52729.2023.01215"},{"key":"ref48","doi-asserted-by":"publisher","DOI":"10.1109\/OCEANSChennai45887.2022.9775502"},{"key":"ref49","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.2017.8202133"},{"key":"ref50","doi-asserted-by":"publisher","DOI":"10.1007\/978-3-319-24574-4_28"},{"key":"ref51","doi-asserted-by":"publisher","DOI":"10.48550\/arXiv.1802.02611"},{"key":"ref52","first-page":"12077","article-title":"SegFormer: Simple and efficient design for semantic segmentation with transformers","volume-title":"Proc. Int. Conf. Adv. Neural Inf. Process. Syst.","author":"Xie","year":"2021"},{"key":"ref53","volume-title":"Computer Graphics: Principles and Practice","volume":"3","author":"Hughes","year":"2014"},{"key":"ref54","first-page":"1097","article-title":"ImageNet classification with deep convolutional neural networks","volume-title":"Proc. Int. Conf. Adv. Neural Inf. Process. Syst.","author":"Krizhevsky","year":"2012"},{"key":"ref55","doi-asserted-by":"publisher","DOI":"10.1145\/3072959.3073599"}],"container-title":["IEEE Transactions on Robotics"],"original-title":[],"link":[{"URL":"http:\/\/xplorestaging.ieee.org\/ielx8\/8860\/10778592\/10967163.pdf?arnumber=10967163","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2025,5,8]],"date-time":"2025-05-08T17:42:38Z","timestamp":1746726158000},"score":1,"resource":{"primary":{"URL":"https:\/\/ieeexplore.ieee.org\/document\/10967163\/"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2025]]},"references-count":55,"URL":"https:\/\/doi.org\/10.1109\/tro.2025.3562048","relation":{},"ISSN":["1552-3098","1941-0468"],"issn-type":[{"value":"1552-3098","type":"print"},{"value":"1941-0468","type":"electronic"}],"subject":[],"published":{"date-parts":[[2025]]}}}