Fig. 1

Visible-light and infrared thermal images of different scenes obtained by a UAV from the same viewing angle. The two-channel images have been aligned. Infrared thermal imaging patterns can clearly identify human objects in partially occluded environments. However, in a visible-light image, if a human object is partially occluded, it can be difficult to distinguish him or her from the surrounding environment, thus making human object detection very difficult. The red arrows indicate the visible-light signal and thermal signal of the partially obscured volunteer.