Audio-Processing-Based Human Detection at Disaster Sites With Unmanned Aerial Vehicle

摘要

This paper describes a human search system that uses an unmanned aerial vehicle (UAV). The use of robots to search for people is expected to become an auxiliary tool for saving lives during a disaster. In particular, because UAVs can collect information from the air, there has been much research into human search using UAVs equipped with cameras. However, the disadvantage of cameras is that they struggle to detect people who are hidden in shadows. To solve this problem, we mounted an array microphone on a UAV and to detect the human voice as a means of finding people that cameras cannot. Also a search method is proposed that combines voice and camera human detection to compensate for their respective shortcomings. The rate and accuracy of human detection by the proposed method are assessed experimentally.