Journal of Institute of Control, Robotics and Systems (제어로봇시스템학회논문지)

Institute of Control, Robotics and Systems (제어로봇시스템학회)
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Fire Detection Algorithm for a Quad-rotor using Ego-motion Compensation

Ego-Motion 보정기법을 적용한 쿼드로터의 화재 감지 알고리즘

  • Lee, Young-Wan (Department of Information & Communication Engineering, Inha University) ;
  • Kim, Jin-Hwang (Department of Information & Communication Engineering, Inha University) ;
  • Oh, Jeong-Ju (Department of Information & Communication Engineering, Inha University) ;
  • Kim, Hakil (Department of Information & Communication Engineering, Inha University)
  • 이영완 (인하대학교 정보통신공학과) ;
  • 김진황 (인하대학교 정보통신공학과) ;
  • 오정주 (인하대학교 정보통신공학과) ;
  • 김학일 (인하대학교 정보통신공학과)
  • Received : 2014.08.30
  • Accepted : 2014.09.22
  • Published : 2015.01.01
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Abstract

A conventional fire detection has been developed based on images captured from a fixed camera. However, It is difficult to apply current algorithms to a flying Quad-rotor to detect fire. To solve this problem, we propose that the fire detection algorithm can be modified for Quad-rotor using Ego-motion compensation. The proposed fire detection algorithm consists of color detection, motion detection, and fire determination using a randomness test. Color detection and randomness test are adapted similarly from an existing algorithm. However, Ego-motion compensation is adapted on motion detection for compensating the degree of Quad-rotor's motion using Planar Projective Transformation based on Optical Flow, RANSAC Algorithm, and Homography. By adapting Ego-motion compensation on the motion detection step, it has been proven that the proposed algorithm has been able to detect fires 83% of the time in hovering mode.

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References

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