{"id":"https://openalex.org/W4416751047","doi":"https://doi.org/10.1109/iros60139.2025.11247556","title":"DroneKey: Drone 3D Pose Estimation in Image Sequences using Gated Key-representation and Pose-adaptive Learning","display_name":"DroneKey: Drone 3D Pose Estimation in Image Sequences using Gated Key-representation and Pose-adaptive Learning","publication_year":2025,"publication_date":"2025-10-19","ids":{"openalex":"https://openalex.org/W4416751047","doi":"https://doi.org/10.1109/iros60139.2025.11247556"},"language":null,"primary_location":{"id":"doi:10.1109/iros60139.2025.11247556","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros60139.2025.11247556","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"},"type":"article","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/A5111294340","display_name":"Seo-Bin Hwang","orcid":null},"institutions":[{"id":"https://openalex.org/I111277659","display_name":"Chonnam National University","ror":"https://ror.org/05kzjxq56","country_code":"KR","type":"education","lineage":["https://openalex.org/I111277659"]}],"countries":["KR"],"is_corresponding":true,"raw_author_name":"Seo-Bin Hwang","raw_affiliation_strings":["Chonnam National University,Department of AI Convergence,Korea"],"affiliations":[{"raw_affiliation_string":"Chonnam National University,Department of AI Convergence,Korea","institution_ids":["https://openalex.org/I111277659"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5058331158","display_name":"Yeong-Jun Cho","orcid":"https://orcid.org/0000-0002-0497-5660"},"institutions":[{"id":"https://openalex.org/I111277659","display_name":"Chonnam National University","ror":"https://ror.org/05kzjxq56","country_code":"KR","type":"education","lineage":["https://openalex.org/I111277659"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Yeong-Jun Cho","raw_affiliation_strings":["Chonnam National University,Department of AI Convergence,Korea"],"affiliations":[{"raw_affiliation_string":"Chonnam National University,Department of AI Convergence,Korea","institution_ids":["https://openalex.org/I111277659"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5111294340"],"corresponding_institution_ids":["https://openalex.org/I111277659"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.48915569,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"708","last_page":"715"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.486299991607666,"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":0.486299991607666,"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/T10627","display_name":"Advanced Image and Video Retrieval Techniques","score":0.1542000025510788,"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"}},{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.09619999676942825,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/drone","display_name":"Drone","score":0.7692999839782715},{"id":"https://openalex.org/keywords/mahalanobis-distance","display_name":"Mahalanobis distance","score":0.7371000051498413},{"id":"https://openalex.org/keywords/pose","display_name":"Pose","score":0.6273000240325928},{"id":"https://openalex.org/keywords/pattern-recognition","display_name":"Pattern recognition (psychology)","score":0.43869999051094055},{"id":"https://openalex.org/keywords/encoder","display_name":"Encoder","score":0.42239999771118164},{"id":"https://openalex.org/keywords/code","display_name":"Code (set theory)","score":0.39719998836517334},{"id":"https://openalex.org/keywords/estimator","display_name":"Estimator","score":0.3939000070095062},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.37209999561309814}],"concepts":[{"id":"https://openalex.org/C59519942","wikidata":"https://www.wikidata.org/wiki/Q650665","display_name":"Drone","level":2,"score":0.7692999839782715},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.7617999911308289},{"id":"https://openalex.org/C1921717","wikidata":"https://www.wikidata.org/wiki/Q1334846","display_name":"Mahalanobis distance","level":2,"score":0.7371000051498413},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6848000288009644},{"id":"https://openalex.org/C52102323","wikidata":"https://www.wikidata.org/wiki/Q1671968","display_name":"Pose","level":2,"score":0.6273000240325928},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.5769000053405762},{"id":"https://openalex.org/C153180895","wikidata":"https://www.wikidata.org/wiki/Q7148389","display_name":"Pattern recognition (psychology)","level":2,"score":0.43869999051094055},{"id":"https://openalex.org/C118505674","wikidata":"https://www.wikidata.org/wiki/Q42586063","display_name":"Encoder","level":2,"score":0.42239999771118164},{"id":"https://openalex.org/C2776760102","wikidata":"https://www.wikidata.org/wiki/Q5139990","display_name":"Code (set theory)","level":3,"score":0.39719998836517334},{"id":"https://openalex.org/C185429906","wikidata":"https://www.wikidata.org/wiki/Q1130160","display_name":"Estimator","level":2,"score":0.3939000070095062},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.37209999561309814},{"id":"https://openalex.org/C108583219","wikidata":"https://www.wikidata.org/wiki/Q197536","display_name":"Deep learning","level":2,"score":0.34950000047683716},{"id":"https://openalex.org/C94915269","wikidata":"https://www.wikidata.org/wiki/Q1834857","display_name":"Detector","level":2,"score":0.3246999979019165},{"id":"https://openalex.org/C103278499","wikidata":"https://www.wikidata.org/wiki/Q254465","display_name":"Similarity (geometry)","level":3,"score":0.3057999908924103},{"id":"https://openalex.org/C112972136","wikidata":"https://www.wikidata.org/wiki/Q7595718","display_name":"Stability (learning theory)","level":2,"score":0.30000001192092896},{"id":"https://openalex.org/C125411270","wikidata":"https://www.wikidata.org/wiki/Q18653","display_name":"Encoding (memory)","level":2,"score":0.2946000099182129},{"id":"https://openalex.org/C16345878","wikidata":"https://www.wikidata.org/wiki/Q107472979","display_name":"Orientation (vector space)","level":2,"score":0.29089999198913574},{"id":"https://openalex.org/C14036430","wikidata":"https://www.wikidata.org/wiki/Q3736076","display_name":"Function (biology)","level":2,"score":0.2809000015258789},{"id":"https://openalex.org/C66322947","wikidata":"https://www.wikidata.org/wiki/Q11658","display_name":"Transformer","level":3,"score":0.2535000145435333}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros60139.2025.11247556","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros60139.2025.11247556","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":18,"referenced_works":["https://openalex.org/W1861492603","https://openalex.org/W1991544872","https://openalex.org/W2113325037","https://openalex.org/W2608032085","https://openalex.org/W2923395910","https://openalex.org/W2942602829","https://openalex.org/W2963150697","https://openalex.org/W2963402313","https://openalex.org/W3096609285","https://openalex.org/W3128053805","https://openalex.org/W3203925315","https://openalex.org/W3211490618","https://openalex.org/W4297095248","https://openalex.org/W4313127332","https://openalex.org/W4313854575","https://openalex.org/W4388740249","https://openalex.org/W4396983059","https://openalex.org/W4402715983"],"related_works":[],"abstract_inverted_index":{"Estimating":[0],"the":[1,17,69,101,155,169],"3D":[2,61,121,179],"pose":[3,62,122,180],"of":[4,20,42,116,142,187,191,196],"a":[5,51,55,60,90,96],"drone":[6,21,117],"is":[7],"important":[8],"for":[9,66],"anti-drone":[10],"systems,":[11],"but":[12,29],"existing":[13,149],"methods":[14],"struggle":[15],"with":[16],"unique":[18],"challenges":[19],"keypoint":[22,57,70,107,146,161],"detection.":[23],"Drone":[24],"propellers":[25],"serve":[26],"as":[27],"keypoints":[28,119],"are":[30,207],"difficult":[31],"to":[32,35,104,123],"detect":[33],"due":[34],"their":[36],"high":[37,199],"visual":[38],"similarity":[39],"and":[40,59,78,85,120,125,164,193,201,205],"diversity":[41],"poses.":[43,111],"To":[44],"address":[45],"these":[46],"challenges,":[47],"we":[48,73],"propose":[49],"DroneKey,":[50],"framework":[52],"that":[53,136,154],"combines":[54],"2D":[56,118],"detector":[58],"estimator":[63],"specifically":[64],"designed":[65],"drones.":[67],"In":[68],"detection":[71],"stage,":[72],"extract":[74],"two":[75],"key-representations":[76],"(intermediate":[77],"compact)":[79],"from":[80],"each":[81],"transformer":[82],"encoder":[83,170],"layer":[84],"optimally":[86],"combine":[87],"them":[88],"using":[89],"gated":[91],"sum.":[92],"We":[93,112],"also":[94],"introduce":[95],"pose-adaptive":[97,156],"Mahalanobis":[98,157],"distance":[99],"in":[100,145,168],"loss":[102,158],"function":[103,159],"ensure":[105],"stable":[106],"predictions":[108],"across":[109],"extreme":[110],"built":[113],"new":[114],"datasets":[115],"train":[124],"evaluate":[126],"our":[127,137,182],"method,":[128],"which":[129],"have":[130],"been":[131],"publicly":[132],"released.":[133],"Experiments":[134],"show":[135],"method":[138,183],"achieves":[139],"an":[140,185,189,194],"AP":[141],"99.68%":[143],"(OKS)":[144],"detection,":[147],"outperforming":[148],"methods.":[150],"Ablation":[151],"studies":[152],"confirm":[153],"improves":[160],"prediction":[162],"stability":[163],"accuracy.":[165],"Additionally,":[166],"improvements":[167],"design":[171],"enable":[172],"real-time":[173],"processing":[174],"at":[175,209],"44":[176],"FPS.":[177],"For":[178],"estimation,":[181],"achieved":[184],"MAE-angle":[186],"10.62\u00b0,":[188],"RMSE":[190],"0.221m,":[192],"MAE-absolute":[195],"0.076m,":[197],"demonstrating":[198],"accuracy":[200],"reliability.":[202],"The":[203],"code":[204],"dataset":[206],"available":[208],"https://github.com/kkanuseobin/DroneKey.":[210]},"counts_by_year":[],"updated_date":"2026-03-07T16:01:11.037858","created_date":"2025-11-28T00:00:00"}