{"id":"https://openalex.org/W7125923998","doi":"https://doi.org/10.1109/smc58881.2025.11343560","title":"UAV State Estimation and Trajectory Prediction using Transformer-based Neural Networks and Feature-based Visual Odometry","display_name":"UAV State Estimation and Trajectory Prediction using Transformer-based Neural Networks and Feature-based Visual Odometry","publication_year":2025,"publication_date":"2025-10-05","ids":{"openalex":"https://openalex.org/W7125923998","doi":"https://doi.org/10.1109/smc58881.2025.11343560"},"language":null,"primary_location":{"id":"doi:10.1109/smc58881.2025.11343560","is_oa":false,"landing_page_url":"https://doi.org/10.1109/smc58881.2025.11343560","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 IEEE International Conference on Systems, Man, and Cybernetics (SMC)","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/A5099269024","display_name":"Yiannis Grigoriou","orcid":null},"institutions":[{"id":"https://openalex.org/I34771391","display_name":"University of Cyprus","ror":"https://ror.org/02qjrjx09","country_code":"CY","type":"education","lineage":["https://openalex.org/I34771391"]},{"id":"https://openalex.org/I4210105896","display_name":"Cyprus Research and Innovation Center (Cyprus)","ror":"https://ror.org/01ha10g31","country_code":"CY","type":"company","lineage":["https://openalex.org/I4210105896"]}],"countries":["CY"],"is_corresponding":true,"raw_author_name":"Yiannis Grigoriou","raw_affiliation_strings":["University of Cyprus,and the KIOS Research and Innovation Center of Excellence (KIOS CoE),Department of Electrical and Computer Engineering,Nicosia,Cyprus"],"affiliations":[{"raw_affiliation_string":"University of Cyprus,and the KIOS Research and Innovation Center of Excellence (KIOS CoE),Department of Electrical and Computer Engineering,Nicosia,Cyprus","institution_ids":["https://openalex.org/I34771391","https://openalex.org/I4210105896"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5086106953","display_name":"Nicolas Souli","orcid":"https://orcid.org/0000-0001-8659-1865"},"institutions":[{"id":"https://openalex.org/I34771391","display_name":"University of Cyprus","ror":"https://ror.org/02qjrjx09","country_code":"CY","type":"education","lineage":["https://openalex.org/I34771391"]},{"id":"https://openalex.org/I4210105896","display_name":"Cyprus Research and Innovation Center (Cyprus)","ror":"https://ror.org/01ha10g31","country_code":"CY","type":"company","lineage":["https://openalex.org/I4210105896"]}],"countries":["CY"],"is_corresponding":false,"raw_author_name":"Nicolas Souli","raw_affiliation_strings":["University of Cyprus,and the KIOS Research and Innovation Center of Excellence (KIOS CoE),Department of Electrical and Computer Engineering,Nicosia,Cyprus"],"affiliations":[{"raw_affiliation_string":"University of Cyprus,and the KIOS Research and Innovation Center of Excellence (KIOS CoE),Department of Electrical and Computer Engineering,Nicosia,Cyprus","institution_ids":["https://openalex.org/I34771391","https://openalex.org/I4210105896"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5052237828","display_name":"P. Chrysanthou","orcid":null},"institutions":[{"id":"https://openalex.org/I34771391","display_name":"University of Cyprus","ror":"https://ror.org/02qjrjx09","country_code":"CY","type":"education","lineage":["https://openalex.org/I34771391"]},{"id":"https://openalex.org/I4210105896","display_name":"Cyprus Research and Innovation Center (Cyprus)","ror":"https://ror.org/01ha10g31","country_code":"CY","type":"company","lineage":["https://openalex.org/I4210105896"]}],"countries":["CY"],"is_corresponding":false,"raw_author_name":"Panagiotis Chrysanthou","raw_affiliation_strings":["University of Cyprus,and the KIOS Research and Innovation Center of Excellence (KIOS CoE),Department of Electrical and Computer Engineering,Nicosia,Cyprus"],"affiliations":[{"raw_affiliation_string":"University of Cyprus,and the KIOS Research and Innovation Center of Excellence (KIOS CoE),Department of Electrical and Computer Engineering,Nicosia,Cyprus","institution_ids":["https://openalex.org/I34771391","https://openalex.org/I4210105896"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5005033255","display_name":"Panayiotis Kolios","orcid":"https://orcid.org/0000-0003-3981-993X"},"institutions":[{"id":"https://openalex.org/I34771391","display_name":"University of Cyprus","ror":"https://ror.org/02qjrjx09","country_code":"CY","type":"education","lineage":["https://openalex.org/I34771391"]}],"countries":["CY"],"is_corresponding":false,"raw_author_name":"Panayiotis Kolios","raw_affiliation_strings":["University of Cyprus,Department of Computer Science and the KIOS CoE"],"affiliations":[{"raw_affiliation_string":"University of Cyprus,Department of Computer Science and the KIOS CoE","institution_ids":["https://openalex.org/I34771391"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5124058621","display_name":"Georgios Ellinas","orcid":null},"institutions":[{"id":"https://openalex.org/I34771391","display_name":"University of Cyprus","ror":"https://ror.org/02qjrjx09","country_code":"CY","type":"education","lineage":["https://openalex.org/I34771391"]},{"id":"https://openalex.org/I4210105896","display_name":"Cyprus Research and Innovation Center (Cyprus)","ror":"https://ror.org/01ha10g31","country_code":"CY","type":"company","lineage":["https://openalex.org/I4210105896"]}],"countries":["CY"],"is_corresponding":false,"raw_author_name":"Georgios Ellinas","raw_affiliation_strings":["University of Cyprus,and the KIOS Research and Innovation Center of Excellence (KIOS CoE),Department of Electrical and Computer Engineering,Nicosia,Cyprus"],"affiliations":[{"raw_affiliation_string":"University of Cyprus,and the KIOS Research and Innovation Center of Excellence (KIOS CoE),Department of Electrical and Computer Engineering,Nicosia,Cyprus","institution_ids":["https://openalex.org/I34771391","https://openalex.org/I4210105896"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5099269024"],"corresponding_institution_ids":["https://openalex.org/I34771391","https://openalex.org/I4210105896"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.80629627,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"206","last_page":"213"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.8565000295639038,"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":0.8565000295639038,"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/T11099","display_name":"Autonomous Vehicle Technology and Safety","score":0.03220000118017197,"subfield":{"id":"https://openalex.org/subfields/2203","display_name":"Automotive 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/T11133","display_name":"UAV Applications and Optimization","score":0.02370000071823597,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.7343999743461609},{"id":"https://openalex.org/keywords/visual-odometry","display_name":"Visual odometry","score":0.6147000193595886},{"id":"https://openalex.org/keywords/reliability","display_name":"Reliability (semiconductor)","score":0.5386999845504761},{"id":"https://openalex.org/keywords/odometry","display_name":"Odometry","score":0.5360999703407288},{"id":"https://openalex.org/keywords/artificial-neural-network","display_name":"Artificial neural network","score":0.49399998784065247},{"id":"https://openalex.org/keywords/inertial-measurement-unit","display_name":"Inertial measurement unit","score":0.47119998931884766},{"id":"https://openalex.org/keywords/state","display_name":"State (computer science)","score":0.43799999356269836},{"id":"https://openalex.org/keywords/software","display_name":"Software","score":0.37929999828338623},{"id":"https://openalex.org/keywords/global-positioning-system","display_name":"Global Positioning System","score":0.37279999256134033}],"concepts":[{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.7343999743461609},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6330000162124634},{"id":"https://openalex.org/C5799516","wikidata":"https://www.wikidata.org/wiki/Q4110915","display_name":"Visual odometry","level":3,"score":0.6147000193595886},{"id":"https://openalex.org/C43214815","wikidata":"https://www.wikidata.org/wiki/Q7310987","display_name":"Reliability (semiconductor)","level":3,"score":0.5386999845504761},{"id":"https://openalex.org/C49441653","wikidata":"https://www.wikidata.org/wiki/Q2014717","display_name":"Odometry","level":4,"score":0.5360999703407288},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5120000243186951},{"id":"https://openalex.org/C50644808","wikidata":"https://www.wikidata.org/wiki/Q192776","display_name":"Artificial neural network","level":2,"score":0.49399998784065247},{"id":"https://openalex.org/C79061980","wikidata":"https://www.wikidata.org/wiki/Q941680","display_name":"Inertial measurement unit","level":2,"score":0.47119998931884766},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.4708999991416931},{"id":"https://openalex.org/C48103436","wikidata":"https://www.wikidata.org/wiki/Q599031","display_name":"State (computer science)","level":2,"score":0.43799999356269836},{"id":"https://openalex.org/C2777904410","wikidata":"https://www.wikidata.org/wiki/Q7397","display_name":"Software","level":2,"score":0.37929999828338623},{"id":"https://openalex.org/C60229501","wikidata":"https://www.wikidata.org/wiki/Q18822","display_name":"Global Positioning System","level":2,"score":0.37279999256134033},{"id":"https://openalex.org/C87833898","wikidata":"https://www.wikidata.org/wiki/Q1060280","display_name":"Advanced driver assistance systems","level":2,"score":0.3598000109195709},{"id":"https://openalex.org/C36464697","wikidata":"https://www.wikidata.org/wiki/Q451553","display_name":"Visualization","level":2,"score":0.313400000333786},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.31279999017715454},{"id":"https://openalex.org/C79487989","wikidata":"https://www.wikidata.org/wiki/Q934680","display_name":"Vehicle dynamics","level":2,"score":0.3009999990463257},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.29820001125335693},{"id":"https://openalex.org/C2779843651","wikidata":"https://www.wikidata.org/wiki/Q7390335","display_name":"SIGNAL (programming language)","level":2,"score":0.29809999465942383},{"id":"https://openalex.org/C26517878","wikidata":"https://www.wikidata.org/wiki/Q228039","display_name":"Key (lock)","level":2,"score":0.2921000123023987},{"id":"https://openalex.org/C108583219","wikidata":"https://www.wikidata.org/wiki/Q197536","display_name":"Deep learning","level":2,"score":0.29179999232292175},{"id":"https://openalex.org/C128651787","wikidata":"https://www.wikidata.org/wiki/Q570607","display_name":"Inertial navigation system","level":3,"score":0.2736000120639801},{"id":"https://openalex.org/C183121708","wikidata":"https://www.wikidata.org/wiki/Q209867","display_name":"Telemetry","level":2,"score":0.26750001311302185},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.26600000262260437},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.2646999955177307},{"id":"https://openalex.org/C136197465","wikidata":"https://www.wikidata.org/wiki/Q1729295","display_name":"Variety (cybernetics)","level":2,"score":0.263700008392334},{"id":"https://openalex.org/C52102323","wikidata":"https://www.wikidata.org/wiki/Q1671968","display_name":"Pose","level":2,"score":0.2612000107765198},{"id":"https://openalex.org/C18762648","wikidata":"https://www.wikidata.org/wiki/Q42213","display_name":"Work (physics)","level":2,"score":0.2524999976158142},{"id":"https://openalex.org/C173386949","wikidata":"https://www.wikidata.org/wiki/Q192735","display_name":"Inertial frame of reference","level":2,"score":0.25060001015663147}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/smc58881.2025.11343560","is_oa":false,"landing_page_url":"https://doi.org/10.1109/smc58881.2025.11343560","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 IEEE International Conference on Systems, Man, and Cybernetics (SMC)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/9","score":0.6549688577651978,"display_name":"Industry, innovation and infrastructure"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":26,"referenced_works":["https://openalex.org/W1612997784","https://openalex.org/W2033819227","https://openalex.org/W2047682254","https://openalex.org/W2157797247","https://openalex.org/W2396274919","https://openalex.org/W2574882241","https://openalex.org/W2915945464","https://openalex.org/W2922023598","https://openalex.org/W2958390482","https://openalex.org/W2968243907","https://openalex.org/W2980809414","https://openalex.org/W3007598241","https://openalex.org/W3031234167","https://openalex.org/W3191827222","https://openalex.org/W3193229012","https://openalex.org/W4205172069","https://openalex.org/W4210268007","https://openalex.org/W4226142707","https://openalex.org/W4285167163","https://openalex.org/W4290996531","https://openalex.org/W4294167453","https://openalex.org/W4320029460","https://openalex.org/W4377971210","https://openalex.org/W4385731934","https://openalex.org/W4401508399","https://openalex.org/W4403021775"],"related_works":[],"abstract_inverted_index":{"Unmanned":[0],"aerial":[1],"vehicles":[2],"(UAVs)":[3],"are":[4,24],"increasingly":[5],"relied":[6],"upon":[7],"in":[8,134,155,173],"a":[9,77,108,135,145],"variety":[10],"of":[11,66,107,170],"critical":[12],"applications,":[13],"including":[14],"infrastructure":[15],"inspection,":[16],"search-and-rescue,":[17],"and":[18,37,51,71,94,116,131,138,151,168],"traffic":[19],"monitoring.":[20],"While":[21],"modern":[22],"UAVs":[23,83],"typically":[25],"equipped":[26],"with":[27,104,118],"global":[28],"positioning":[29],"system":[30,99,127],"(GPS),":[31],"inertial":[32],"measurement":[33],"unit":[34],"(IMU)":[35],"modules,":[36],"often":[38],"include":[39],"safeguards":[40],"against":[41],"adverse":[42],"environmental":[43],"conditions,":[44],"they":[45],"remain":[46],"susceptible":[47],"to":[48,58,89,121,164],"sensor":[49],"malfunctions":[50],"signal":[52],"disruptions.":[53],"These":[54],"challenges":[55],"have":[56],"led":[57],"the":[59,105,161,166],"need":[60],"for":[61,82],"robust,":[62],"GPS-free":[63,101],"solutions":[64],"capable":[65],"maintaining":[67],"accurate":[68,123],"trajectory":[69,92],"prediction":[70,93,153],"state":[72,95],"identification.":[73,96],"This":[74],"work":[75],"proposes":[76],"real-time":[78],"multi-task":[79],"learning":[80],"framework":[81],"that":[84,113],"employs":[85],"Transformer-based":[86],"neural":[87],"networks":[88],"perform":[90],"simultaneous":[91],"The":[97,125,158],"proposed":[98,126],"enables":[100],"UAV":[102,171],"operations":[103],"employment":[106],"feature-based":[109],"visual":[110],"odometry":[111],"algorithm":[112],"is":[114,128],"implemented":[115,129],"fused":[117],"telemetry":[119],"data":[120],"achieve":[122],"localization.":[124],"(hardware":[130],"software":[132],"modules)":[133],"functional":[136],"prototype":[137],"validated":[139],"through":[140],"extensive":[141],"outdoor":[142],"experiments":[143],"using":[144],"custom-built":[146],"dataset,":[147],"demonstrating":[148],"strong":[149],"performance":[150],"improved":[152],"accuracy":[154],"GPS-denied":[156],"environments.":[157],"results":[159],"demonstrate":[160],"framework\u2019s":[162],"ability":[163],"enhance":[165],"autonomy":[167],"reliability":[169],"systems":[172],"challenging":[174],"operational":[175],"scenarios.":[176]},"counts_by_year":[],"updated_date":"2026-01-29T23:17:01.242718","created_date":"2026-01-29T00:00:00"}