Effectiveness of Human Detection from Aerial Images Taken from Different Heights

Recently, drones have been regularly used to aid in search and rescue in places where it is normally to carry out some of the early forensic victim localization. There are many suitable human detectors for drone use, such as Histogram Oriented Gradient (HOG), You Only Looks Once (YOLO), and Aggregate Channel Features (ACF). In this paper, the height of the aerial images is analyzed for its effect on the accuracy of the detection. This works compares ACF, YOLO MobileNet, and YOLO ResNet50 using a different set of aerial images varying at 10m, 20m, and 30m heights. The results show that in a single-model test, with our proposed bounding-box standardization, YOLO MobileNet achieves significant increase in test precision (AP), with 0.7 AP recorded. For single-model test, YOLO MobileNet yield best AP using 20m training data where it obtained AP of 0.88 (10m test height), 0.82 (20m test height), and 0.91 (30m test height).