Thermal cameras and applications: a survey <s> Fire detection and military <s> This paper describes a smart remote sensing system that can detect scattered mine weapons by making use of an infrared ray (IR) camera. The object (mine) detection method proposed uses parallel image processing based on time difference or subtraction images from the IR camera. Because of the danger involved, it is desirable for mines to be detected from the most remote endeavoring. In the case that mines are buried in the ground, we can detect them if there is a sufficiently large temperature gradient between the ground and the radiant heat around the mine position. First, a cold water solution is sprayed over the surrounding region to cool the ground. Then we measure the temperature of this surface with an IR camera. In this time, we can obtain time difference images by checking the difference in temperature of the soil and the radiant heat of the buried mine object and the cooling speed. Each subtraction image is processed in real time by using pipelined image processing software implemented on a Linux platform PC. <s> BIB001 </s> Thermal cameras and applications: a survey <s> Fire detection and military <s> Currently, very little technology is used in real-world demining activities. Active programs by the U.S. Army in both land mine detection sensor development and systems integration are evaluating new technologies, incrementally improving existing technologies, increasing the probability of detection, reducing the false alarm rate, and planning out usable deployment scenarios. Through iterative design/build test cycles, and blind and scored testing at Army mine lanes, steady progress is being made. <s> BIB002 </s> Thermal cameras and applications: a survey <s> Fire detection and military <s> Using image processing techniques, the Gunfire Detection and Location (GDL) system detects gunfire and aims a suite of imagers at the muzzle flash point of origin. This detection and location function is critical for force and perimeter defense in densely populated areas as well as difficult operating environments such as a remote desert. This paper defines requirements of the GDL project. The GDL system is the result of research into using real-time image processing of mid-wave infrared imagery to detect gunfire and pin point its origin. Varieties of modern imagers are made available over the spectrum to aid an operator in assessing a detected signal. By using optical and acoustical methods, a design effort was launched to yield five vehicle based platforms. The hardware and algorithm used to implement the five basic functions is discussed in this paper. Issues such as component reliability, thermal issues, camera sensitivity operated during the daytime and nighttime, and optical design and bore sighting had to be united into a system designed to operate in the desert and powered from a high mobility multi-purpose wheeled vehicle (HMMWV). The design, construction and testing was conducted in nine months. The project has yielded a system architecture that will be further tested and refined in the next phase of this project. Experiences with the development phase of GDL and future directions are described in this paper. <s> BIB003
Automatic systems for detecting objects or situations that could pose a risk can be of great value in many applications. A fire detection system can be used for mobile robots. Hwang et al. [72] proposed a system using a pan-tilt camera that can operate in two modes, either narrow field of view or wide field of view using a conic mirror. Fires are detected as hot spots and the location is detected to move the robot to the source of fire. Arrue et al.  proposed a hybrid system for forest fire detection composed of both thermal and visual cameras, and meteorological and geographical information, while Paugam et al. [140] proposed a handheld thermal imaging system for airborne fire analysis. Price et al. BIB003 presented a gunfire detection and localisation system for military applications. Gunfire is detected in mid-wave infrared images and validated by acoustic events. The detected gunfire is mapped to a real-world location. Siegel BIB002 proposed thermal imaging for mine detection. Depending on circumstances, such as the ambient air temperature and soil moisture, mines can be detected using the assumption that the soil directly above the mine heats or cools at a slightly different rate than the surrounding soil. Wasaki et al. BIB001 used the same idea in their system. They sprayed cold water over the surrounding soil and captured the temperature distribution of the cooling soil with a thermal camera. Kastek et al. [91] presented the idea of using thermal imaging for detecting snipers. The muzzle flash, the bullet in flight, and the sniper body can be detected.