Human Detection in UAV Thermal Imagery: Dataset Extension and Comparative Evaluation on Embedded Platforms

Abstract

Unmanned aerial vehicles (UAVs) equipped with thermal cameras are increasingly used in search and rescue (SAR) operations, where low visibility and small human footprints make detection a critical challenge. Existing datasets are mostly limited to urban or open-field scenarios, and our experiments show that models trained on such heterogeneous data achieve poor results. To address this gap, we collected and annotated thermal images in mountainous environments using a DJI M3T drone under clear daytime conditions. This mountain-specific set was integrated with ten existing sources to form an extensive benchmark of over 75,000 images. We then performed a comparative evaluation of object detection models (YOLOv8/9/10, RT-DETR) and semantic segmentation networks (U-Net variants), analyzing accuracy, inference speed, and energy consumption on an NVIDIA Jetson AGX Orin. Results demonstrate that human detection tasks can be accurately solved through both semantic segmentation and object detection, achieving 90% detection accuracy using segmentation models and 85% accuracy using the YOLOv8 X detection model in mountain scenarios. On the Jetson platform, segmentation achieves real-time performance with up to 27 FPS in FP16 mode. Our contributions are as follows: (i) the introduction of a new mountainous thermal image collection extending current benchmarks and (ii) a comprehensive evaluation of detection methods on embedded hardware for SAR applications.