Thermal Image Tracking for Search and Rescue Missions with a Drone

Abstract

Infrared thermal imaging is useful for human body recognition for search and rescue (SAR) missions. This paper discusses thermal object tracking for SAR missions with a drone. The entire process consists of object detection and multiple-target tracking. The You-Only-Look-Once (YOLO) detection model is utilized to detect people in thermal videos. Multiple-target tracking is performed via track initialization, maintenance, and termination. Position measurements in two consecutive frames initialize the track. Tracks are maintained using a Kalman filter. A bounding box gating rule is proposed for the measurement-to-track association. This proposed rule is combined with the statistically nearest neighbor association rule to assign measurements to tracks. The track-to-track association selects the fittest track for a track and fuses them. In the experiments, three videos of three hikers simulating being lost in the mountains were captured using a thermal imaging camera on a drone. Capturing was assumed under difficult conditions; the objects are close or occluded, and the drone flies arbitrarily in horizontal and vertical directions. Robust tracking results were obtained in terms of average total track life and average track purity, whereas the average mean track life was shortened in harsh searching environments.