{"id":"https://openalex.org/W2996356094","doi":"https://doi.org/10.3390/ijgi9010006","title":"Spoofing Detection of Civilian UAVs Using Visual Odometry","display_name":"Spoofing Detection of Civilian UAVs Using Visual Odometry","publication_year":2019,"publication_date":"2019-12-19","ids":{"openalex":"https://openalex.org/W2996356094","doi":"https://doi.org/10.3390/ijgi9010006","mag":"2996356094"},"language":"en","primary_location":{"id":"doi:10.3390/ijgi9010006","is_oa":true,"landing_page_url":"https://doi.org/10.3390/ijgi9010006","pdf_url":"https://www.mdpi.com/2220-9964/9/1/6/pdf","source":{"id":"https://openalex.org/S2764431341","display_name":"ISPRS International Journal of Geo-Information","issn_l":"2220-9964","issn":["2220-9964"],"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":"ISPRS International Journal of Geo-Information","raw_type":"journal-article"},"type":"article","indexed_in":["crossref","doaj"],"open_access":{"is_oa":true,"oa_status":"gold","oa_url":"https://www.mdpi.com/2220-9964/9/1/6/pdf","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5058736673","display_name":"Masood Varshosaz","orcid":"https://orcid.org/0000-0002-2703-1515"},"institutions":[{"id":"https://openalex.org/I80543232","display_name":"K.N.Toosi University of Technology","ror":"https://ror.org/0433abe34","country_code":"IR","type":"education","lineage":["https://openalex.org/I80543232"]}],"countries":["IR"],"is_corresponding":true,"raw_author_name":"Masood Varshosaz","raw_affiliation_strings":["Geomatics Engineering Faculty, K.N. Toosi University of Technology, Valiasr St., Tehran 1543319967, Iran"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Geomatics Engineering Faculty, K.N. Toosi University of Technology, Valiasr St., Tehran 1543319967, Iran","institution_ids":["https://openalex.org/I80543232"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5053850915","display_name":"Alireza Afary","orcid":"https://orcid.org/0000-0002-3301-3719"},"institutions":[{"id":"https://openalex.org/I80543232","display_name":"K.N.Toosi University of Technology","ror":"https://ror.org/0433abe34","country_code":"IR","type":"education","lineage":["https://openalex.org/I80543232"]}],"countries":["IR"],"is_corresponding":false,"raw_author_name":"Alireza Afary","raw_affiliation_strings":["Geomatics Engineering Faculty, K.N. Toosi University of Technology, Valiasr St., Tehran 1543319967, Iran"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Geomatics Engineering Faculty, K.N. Toosi University of Technology, Valiasr St., Tehran 1543319967, Iran","institution_ids":["https://openalex.org/I80543232"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5083040104","display_name":"Barat Mojaradi","orcid":"https://orcid.org/0000-0002-5894-5969"},"institutions":[{"id":"https://openalex.org/I67009956","display_name":"Iran University of Science and Technology","ror":"https://ror.org/01jw2p796","country_code":"IR","type":"education","lineage":["https://openalex.org/I67009956"]}],"countries":["IR"],"is_corresponding":false,"raw_author_name":"Barat Mojaradi","raw_affiliation_strings":["Department of Geomatics, School of Civil Engineering, Iran University of Science and Technology, Hengam St., Tehran 1311416846, Iran"],"raw_orcid":"https://orcid.org/0000-0002-5894-5969","affiliations":[{"raw_affiliation_string":"Department of Geomatics, School of Civil Engineering, Iran University of Science and Technology, Hengam St., Tehran 1311416846, Iran","institution_ids":["https://openalex.org/I67009956"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5023819067","display_name":"M. Saadatseresht","orcid":"https://orcid.org/0000-0002-7918-3166"},"institutions":[{"id":"https://openalex.org/I23946033","display_name":"University of Tehran","ror":"https://ror.org/05vf56z40","country_code":"IR","type":"education","lineage":["https://openalex.org/I23946033"]}],"countries":["IR"],"is_corresponding":false,"raw_author_name":"Mohammad Saadatseresht","raw_affiliation_strings":["School of Surveying and Geospatial Engineering, College of Engineering, The University of Tehran, North Kargar St., Tehran 1439957131, Iran"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Surveying and Geospatial Engineering, College of Engineering, The University of Tehran, North Kargar St., Tehran 1439957131, Iran","institution_ids":["https://openalex.org/I23946033"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5028504195","display_name":"Ebadat Ghanbari Parmehr","orcid":"https://orcid.org/0000-0001-9420-6461"},"institutions":[{"id":"https://openalex.org/I84248293","display_name":"Babol Noshirvani University of Technology","ror":"https://ror.org/02zc85170","country_code":"IR","type":"education","lineage":["https://openalex.org/I84248293"]}],"countries":["IR"],"is_corresponding":false,"raw_author_name":"Ebadat Ghanbari Parmehr","raw_affiliation_strings":["Department of Geomatics, Faculty of Civil Engineering, Babol Noshirvani University of Technology, Shariati St., Babol 4714871167, Iran"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Geomatics, Faculty of Civil Engineering, Babol Noshirvani University of Technology, Shariati St., Babol 4714871167, Iran","institution_ids":["https://openalex.org/I84248293"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5058736673"],"corresponding_institution_ids":["https://openalex.org/I80543232"],"apc_list":{"value":1400,"currency":"CHF","value_usd":1515},"apc_paid":{"value":1400,"currency":"CHF","value_usd":1515},"fwci":42.2764,"has_fulltext":true,"cited_by_count":55,"citation_normalized_percentile":{"value":0.99542359,"is_in_top_1_percent":true,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":95,"max":99},"biblio":{"volume":"9","issue":"1","first_page":"6","last_page":"6"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9997000098228455,"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":0.9997000098228455,"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"}},{"id":"https://openalex.org/T11133","display_name":"UAV Applications and Optimization","score":0.998199999332428,"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/spoofing-attack","display_name":"Spoofing attack","score":0.9739528894424438},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6798979043960571},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.6296338438987732},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.6053949594497681},{"id":"https://openalex.org/keywords/visual-odometry","display_name":"Visual odometry","score":0.5888729691505432},{"id":"https://openalex.org/keywords/global-positioning-system","display_name":"Global Positioning System","score":0.5212719440460205},{"id":"https://openalex.org/keywords/odometry","display_name":"Odometry","score":0.5030891299247742},{"id":"https://openalex.org/keywords/histogram","display_name":"Histogram","score":0.4523904025554657},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.1449953317642212},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.12080830335617065},{"id":"https://openalex.org/keywords/image","display_name":"Image (mathematics)","score":0.09970438480377197},{"id":"https://openalex.org/keywords/computer-security","display_name":"Computer security","score":0.07996860146522522},{"id":"https://openalex.org/keywords/telecommunications","display_name":"Telecommunications","score":0.07315480709075928}],"concepts":[{"id":"https://openalex.org/C167900197","wikidata":"https://www.wikidata.org/wiki/Q11081100","display_name":"Spoofing attack","level":2,"score":0.9739528894424438},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6798979043960571},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.6296338438987732},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6053949594497681},{"id":"https://openalex.org/C5799516","wikidata":"https://www.wikidata.org/wiki/Q4110915","display_name":"Visual odometry","level":3,"score":0.5888729691505432},{"id":"https://openalex.org/C60229501","wikidata":"https://www.wikidata.org/wiki/Q18822","display_name":"Global Positioning System","level":2,"score":0.5212719440460205},{"id":"https://openalex.org/C49441653","wikidata":"https://www.wikidata.org/wiki/Q2014717","display_name":"Odometry","level":4,"score":0.5030891299247742},{"id":"https://openalex.org/C53533937","wikidata":"https://www.wikidata.org/wiki/Q185020","display_name":"Histogram","level":3,"score":0.4523904025554657},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.1449953317642212},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.12080830335617065},{"id":"https://openalex.org/C115961682","wikidata":"https://www.wikidata.org/wiki/Q860623","display_name":"Image (mathematics)","level":2,"score":0.09970438480377197},{"id":"https://openalex.org/C38652104","wikidata":"https://www.wikidata.org/wiki/Q3510521","display_name":"Computer security","level":1,"score":0.07996860146522522},{"id":"https://openalex.org/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","level":1,"score":0.07315480709075928}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.3390/ijgi9010006","is_oa":true,"landing_page_url":"https://doi.org/10.3390/ijgi9010006","pdf_url":"https://www.mdpi.com/2220-9964/9/1/6/pdf","source":{"id":"https://openalex.org/S2764431341","display_name":"ISPRS International Journal of Geo-Information","issn_l":"2220-9964","issn":["2220-9964"],"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":"ISPRS International Journal of Geo-Information","raw_type":"journal-article"},{"id":"pmh:oai:mdpi.com:/2220-9964/9/1/6/","is_oa":true,"landing_page_url":"http://dx.doi.org/10.3390/ijgi9010006","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":"ISPRS International Journal of Geo-Information","raw_type":"Text"}],"best_oa_location":{"id":"doi:10.3390/ijgi9010006","is_oa":true,"landing_page_url":"https://doi.org/10.3390/ijgi9010006","pdf_url":"https://www.mdpi.com/2220-9964/9/1/6/pdf","source":{"id":"https://openalex.org/S2764431341","display_name":"ISPRS International Journal of Geo-Information","issn_l":"2220-9964","issn":["2220-9964"],"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":"ISPRS International Journal of Geo-Information","raw_type":"journal-article"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":true,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W2996356094.pdf","grobid_xml":"https://content.openalex.org/works/W2996356094.grobid-xml"},"referenced_works_count":47,"referenced_works":["https://openalex.org/W972831457","https://openalex.org/W1545923740","https://openalex.org/W1596216457","https://openalex.org/W1633229921","https://openalex.org/W1841798920","https://openalex.org/W1915368719","https://openalex.org/W1921864689","https://openalex.org/W1993855803","https://openalex.org/W2015996585","https://openalex.org/W2021230337","https://openalex.org/W2043917863","https://openalex.org/W2071626497","https://openalex.org/W2073023696","https://openalex.org/W2073403233","https://openalex.org/W2074040836","https://openalex.org/W2118877769","https://openalex.org/W2125903031","https://openalex.org/W2140436314","https://openalex.org/W2148714036","https://openalex.org/W2151103935","https://openalex.org/W2160559680","https://openalex.org/W2166132830","https://openalex.org/W2166721300","https://openalex.org/W2320527016","https://openalex.org/W2346214124","https://openalex.org/W2461937780","https://openalex.org/W2470785477","https://openalex.org/W2566510693","https://openalex.org/W2597092377","https://openalex.org/W2599085818","https://openalex.org/W2736200387","https://openalex.org/W2785735866","https://openalex.org/W2792588313","https://openalex.org/W2799424409","https://openalex.org/W2801327258","https://openalex.org/W2802603544","https://openalex.org/W2810910757","https://openalex.org/W2900644580","https://openalex.org/W2904656254","https://openalex.org/W2943121541","https://openalex.org/W2945504560","https://openalex.org/W2972676112","https://openalex.org/W3124420883","https://openalex.org/W4241012620","https://openalex.org/W4241021229","https://openalex.org/W4251550110","https://openalex.org/W6697503656"],"related_works":["https://openalex.org/W2979950214","https://openalex.org/W87609089","https://openalex.org/W2414561716","https://openalex.org/W3024737167","https://openalex.org/W3161199934","https://openalex.org/W2303855011","https://openalex.org/W2945504560","https://openalex.org/W2312326526","https://openalex.org/W2412578866","https://openalex.org/W3105866016"],"abstract_inverted_index":{"Spoofing":[0],"of":[1,12,38,59,62,92,109,113,124,132,172,215,222,234,253],"Unmanned":[2],"Aerial":[3],"Vehicles":[4],"(UAV)":[5],"is":[6,36,54,83,154,167,201,227,237,247],"generally":[7],"carried":[8],"out":[9],"through":[10],"spoofing":[11,26,126,159,174,188,210,221,255],"the":[13,39,57,63,78,107,120,129,142,170,177,190,195,207,212,220,223,232,235,251],"UAV\u2019s":[14],"Global":[15],"Positioning":[16],"System":[17],"(GPS)":[18],"receiver.":[19],"This":[20,34,116,152,183],"paper":[21],"presents":[22],"a":[23,74],"vision-based":[24],"UAV":[25,64,125,158,173,187,192,198,209,236,254],"detection":[27,171,252],"method":[28,35,53,117,153,166,184],"that":[29,164,245],"utilizes":[30],"Visual":[31],"Odometry":[32],"(VO).":[33],"independent":[37],"other":[40],"complementary":[41],"sensors":[42],"and":[43,49,102,122,127,145,205,230,256],"any":[44,139],"knowledge":[45],"or":[46],"archived":[47],"map":[48],"datasets.":[50],"The":[51,81,161,242],"proposed":[52],"based":[55],"on":[56,156],"comparison":[58,82],"relative":[60],"sub-trajectory":[61],"from":[65,71],"VO,":[66],"with":[67,211],"its":[68],"absolute":[69],"replica":[70],"GPS":[72,181,258],"within":[73],"moving":[75],"window":[76],"along":[77],"flight":[79,199],"path.":[80],"done":[84],"using":[85,218],"three":[86],"dissimilarity":[87],"measures":[88],"including":[89],"(1)":[90],"Sum":[91],"Euclidian":[93],"Distances":[94],"between":[95,106],"Corresponding":[96],"Points":[97],"(SEDCP),":[98],"(2)":[99],"angle":[100],"distance":[101,105],"(3)":[103],"taxicab":[104],"Histogram":[108],"Oriented":[110],"Displacements":[111],"(HOD)":[112],"these":[114],"sub-trajectories.":[115],"can":[118,135,146,185,239],"determine":[119],"time":[121],"location":[123],"bounds":[128],"drift":[130],"error":[131],"VO.":[133],"It":[134],"be":[136,147,240],"used":[137],"without":[138],"restriction":[140],"in":[141,149,169,189,197,206,250],"usage":[143],"environment":[144],"implemented":[148],"real-time":[150],"applications.":[151],"evaluated":[155],"four":[157],"scenarios.":[160],"results":[162,243],"indicate":[163],"this":[165],"effective":[168,249],"due":[175],"to":[176],"Sophisticated":[178],"Receiver-Based":[179],"(SRB)":[180],"spoofing.":[182],"detect":[186],"long-range":[191],"flights":[193],"when":[194,225],"changes":[196],"direction":[200],"larger":[202],"than":[203],"3\u00b0":[204],"incremental":[208],"redirection":[213,229],"rate":[214],"1\u00b0.":[216],"Additionally,":[217],"SEDCP,":[219],"UAV,":[224],"there":[226],"no":[228],"only":[231],"velocity":[233],"changed,":[238],"detected.":[241],"show":[244],"SEDCP":[246],"more":[248],"fake":[257],"positions.":[259]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":8},{"year":2024,"cited_by_count":14},{"year":2023,"cited_by_count":9},{"year":2022,"cited_by_count":15},{"year":2021,"cited_by_count":4},{"year":2020,"cited_by_count":4}],"updated_date":"2026-05-21T06:26:12.895304","created_date":"2025-10-10T00:00:00"}