# Fire Detection and Geo-Localization Using UAV's Aerial Images and Yolo-Based Models
## 7 Experimental Results
### Fire Detection and Localization  
Our experimental focus centered on closely positioned fires, as shown in Figure 10. Specifically, we positioned the fire at the same level as the first camera, allowing us to estimate the preliminary (X, Y, Z) coordinates before embarking on the detailed calculation phase. The outcomes of these tests are meticulously presented in Table 4, highlighting the different instances of relative positioning.  
\begin{table}
\begin{tabular}{c c c c} \hline \hline
**Test** & **Coordinates** & **Camera** & **World (mm)** \\ \hline \multirow{3}{*}{1} & X & \(-0.1621\) & \(-91.3771\) \\  & Y & \(-0.0312\) & \(-17.5973\) \\  & Z & - & \(563.7638\) \\ \hline \multirow{3}{*}{2} & X & \(-0.1219\) & \(-386.4144\) \\  & Y & \(-0.0150\) & \(-1592.6\) \\  & Z & - & \(3174.3\) \\ \hline \multirow{3}{*}{3} & X & \(-0.1977\) & \(-868.1972\) \\  & Y & \(-0.0249\) & \(-1704.381\) \\ \cline{1-1}  & Z & - & \(4391.02\) \\ \hline \hline \end{tabular}
\end{table}
Table 4: Object relative position tests.  
Figure 10: Detection test 1.  
\begin{table}
\begin{tabular}{c c c} \hline \hline
**Component** & **Weight** & **Characteristics** \\ \hline \multirow{3}{*}{Electronic Speed Control} & \multirow{3}{*}{35 g} & Max current: 40 A \\  & & Lipo: 2–4 S \\  & & BEC: 3 A/5 V \\ \hline Propellers & 14 g & Length: 10 inch/254 mm \\ \hline \multirow{3}{*}{Battery} & \multirow{3}{*}{243 g} & Capacity: 4200 mAh \\  & & & Voltage: 11.1 V \\  & & & Max continuous discharge: 25 c \\ \hline \multirow{3}{*}{Pixhawk 2.4.8} & \multirow{3}{*}{40 g} & Supply voltage: 7 V \\  & & & Processor: 32 Bit Cortex M4 Core \\  & & & Sensors: Gyrometer, accelerometer, barometer, \\  & & & magnetometer. \\ \hline \multirow{3}{*}{Radiolink  Receiver R8 EF} & \multirow{3}{*}{7 g} & Channels: 8 CH \\  & & & Signals: SBUS/PPM, PWM \\ \cline{1-1} \cline{3-3} \cline{5-5}  & & Operating voltage: 3 12 V \\ \cline{1-1} \cline{3-3} \cline{5-5}  & & Control distance: 2000 m \\ \hline \hline \end{tabular}
\end{table}
Table 3: _Cont._In examining the results presented in Table 3, certain observations came to light. It is important to acknowledge that while the calculation of the X- and Y-coordinates provided insights into the object's position, the depth information or Z-coordinate did exhibit some errors. These inaccuracies can be attributed to various factors, including the camera calibration precision and the complexity of the depth extraction. Notably, the objects' positioning within the same horizontal plane as the camera led to smaller X-coordinates. Additionally, the camera's orientation concerning the object contributed to the negative sign in the Y-coordinate, a variance of roughly 15 cm.  
Overall, these findings underscored the challenges inherent in accurately determining object positions using stereo vision methods, particularly within a UAV-based application. Further research and refinement of the calibration procedures are essential to enhance the accuracy and reliability of such critical tasks. Furthermore, because of the material limitations, the experiments only focused on detecting fires at short distances. The model, on the other hand, was trained to deal with scenes at far distances. More sophisticated equipment would be more effective in dealing with such situations.