Fire detection algorithm for a Quad-rotor using ego-motion compensation

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.