Estimation of Wildfire Size and Location Using a Monocular Camera on a Semi-autonomous Quadcopter

  • Lucas Goncalves de Paula
  • Kristian Hyttel
  • Kenneth Richard Geipel
  • Jacobo Eduardo de Domingo Gil
  • Iuliu Novac
  • Dimitrios ChrysostomouEmail author
Conference paper
Part of the Lecture Notes in Computer Science book series (LNCS, volume 11754)


This paper addresses the problem of estimating the location and size of a wildfire, within the frame of a semi-autonomous recon and data analytics quadcopter. We approach this problem by developing three different algorithms, in order to accommodate this problem. Two of these taking into the account that the middle of the camera’s FOV is horizontal with respect to the drone it is mounted. The third algorithm relates to the bottom point of the FOV, directly under the drone in 3D space. The evaluation shows that having the pixels correlate to ratios in percentages rather than predetermined values, with respect to the edges of the fire, will result in better performance and higher accuracy. Placing the monocular camera horizontally in relation to the drone will provide an accuracy of 68.20%, while mounting the camera with an angle, will deliver an accuracy of 60.76%.


Wildfire recognition Quadcopter analytics Image processing Area estimation 


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Copyright information

© Springer Nature Switzerland AG 2019

Authors and Affiliations

  1. 1.Department of Materials and ProductionAalborg UniversityAalborg EastDenmark
  2. 2.Robotics and Automation GroupDepartment of Materials and Production, Aalborg UniversityAalborg EastDenmark

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