# Thermal, Multispectral, and RGB Vision Systems Analysis for Victim Detection in SAR Robotics
## 2 Related Works
### Context and Historical Evolution
\begin{table}
\begin{tabular}{l l l l l l l l l} \hline
**Work** & **Sensor Type** & **Camera Model** & **Spectral Resolution** & **Capture System** & **Environment** & **Processing Techniques** & **Application** \\ \hline
[23] & RGB & DJI Phantom 4A Camera & 3 (RGB Bands) & UAV & Outdoors & Transfer Learning of pre-trained CNN & Search and rescue–People detection \\
[24] & RGB & CCTV RGB Images & 3 (RGB Bands) & - & Indoors & Hybrid Human Detection & Search and rescue–modor \\  & & & & & & combining YOLO and RetinaNet & disaster victims \\
[25] & RGB & GoPro & 3 (RGB Bands) & UAV & Maritime & &
\begin{tabular}{l} Vision-based neural network \\ controller for autonomous landing \\ on human targets \\ \end{tabular} & Search and rescue–Help to human victim \\
[26] & RGB & Skywalker 1600 FPV camera & 3 (RGB Bands) & UAV & Wilderness & Single-Shot MultiBox Detector & Search and rescue–Human detection \\
\begin{tabular}{l} detection \\ detection \\ \end{tabular} \\
[20] & THERMAL & Optis P640 & 1 (IR) & \
\begin{tabular}{l} UGV (quadruped \\ robot) \\ \end{tabular} & Outdoors &
\begin{tabular}{l} Thermal image processing and \\ deep learning techniques for \\ body detection \\ \end{tabular} & Search and detection \\
[28] & THERMAL & FLIR Lepton 3 & 1 (IR) & UAV & Outdoors & \
\begin{tabular}{l} Image blending, matching, and \\ processing of thermal images \\ \end{tabular} &
\begin{tabular}{l} research–Human \\ localization \\ \end{tabular} \\
[29] & THERMAL & FLIR Camera 2.0 & 1 (IR) & Educational robot & Indoors &
\begin{tabular}{l} SVM classification with linear \\ kernel and HOG feature \\ Skin detection and classification \\ through feature extraction and \\ SVM algorithm \\ \end{tabular} & Body detection \\
[30] & RGB-THERMAL & FLIR E60 & \
\begin{tabular}{l} 4 (red, green, blue, \\ IR) \\ \end{tabular} & User carrying camera & Indoors– &
\begin{tabular}{l} Skin detection and classification \\ through feature extraction and \\ SVM algorithm \\ \end{tabular} & Search and rescue–Help to human victim \\
[31] & RGB-THERMAL & FLIR View Pro and RGB camera &
\begin{tabular}{l} 4 (red, green, blue, \\ IR) \\ \end{tabular} & UAV & Outdoors & Airborne Optical Sections & rescue–Body detection \\
[32] & RGB-THERMAL & FLIR Lepton 3 & \begin{tabular}{l} 4 (red, green, blue, \\ IR) \\ \end{tabular} & UAV & Outdoors & \
\begin{tabular}{l} Image blending, matching, and \\ processing of thermal images \\ \end{tabular} &
\begin{tabular}{l} research–Vitsims \\ localization \\ \end{tabular} \\
[33] & RGB-THERMAL & \begin{tabular}{l} Zemmuse XT2 (FLIR Tau \\ 2 and RGB camera) \\ \end{tabular} & \
\begin{tabular}{l} 4 (red, green, blue, \\ IR) \\ \end{tabular} & UAV & Outdoors & UAV thermal image &
\begin{tabular}{l} rescue–Human \\ detection \\ \end{tabular} \\ \hline \end{tabular}
\end{table} 
Table 1: Comparison of state-of-the-art methods for victims/people SAR tasks using vision sensors. \begin{table}
\begin{tabular}{l l l l l l l l l} \hline
**Work** & **Sensor Type** & **Camera Model** & **Spectral Resolution** & **Capture System** & **Environment** & **Processing Techniques** & **Application** \\ \hline  & & KAIST Multispectral & & & & & & Visible-thermal fusion strategy & Search and \\
[34] & RGB-THERMAL & & & & & & & & & \\  & & & & & & & & & \\  & & & & & & & & & \\  & & & & & & & & & \\