A real-time video smoke detection algorithm based on Kalman filter and CNN

Smoke detection represents a critical task for avoiding large scale fire disaster in industrial environment and cities. Including intelligent video-based techniques in existing camera infrastructure enables faster response time if compared to traditional analog smoke detectors. In this work presents a hybrid approach to assess the rapid and precise identification of smoke in a video sequence. The algorithm combines a traditional feature detector based on Kalman filtering and motion detection, and a lightweight shallow convolutional neural network. This technique allows the automatic selection of specific regions of interest within the image by the generation of bounding boxes for gray colored moving objects. In the final step the convolutional neural network verifies the actual presence of smoke in the proposed regions of interest. The algorithm provides also an alarm generator that can trigger an alarm signal if the smoke is persistent in a time window of 3 s. The proposed technique has been compared to the state of the art methods available in literature by using several videos of public and non-public dataset showing an improvement in the metrics. Finally, we developed a portable solution for embedded systems and evaluated its performance for the Raspberry Pi 3 and the Nvidia Jetson Nano.