Computer Vision-Based Wildfire Smoke Detection Using UAVs

Table 3

Results of real smoke video samples.

Test set	Smoke sample	Nonsmoke samples	TP	FP	TN	FN	FAR	Accuracy	Detection rate/recall	Precision	F1-score
Images	74	30	50	21	32	1	0.296	0.766	0.980	0.704	0.818
Video 1 (dense smoke near)	816	0	599	216	0	1	0.265	0.734	0.998	0.735	0.847
Video 2 (dense smoke far)	307	0	301	6	0	0	0.019	0.980	1.000	0.980	0.989
Video 3 (thin + dense smoke)	313	0	245	68	0	0	0.217	0.782	1.000	0.783	0.878
Video 4 (drone footage)	3983	1479	3099	884	1447	32	0.221	0.832	0.989	0.778	0.870
Video 5 (thin smoke)	308	0	184	124	0	0	0.402	0.600	1.000	0.597	0.747
Video 6 (thin smoke)	289	0	185	104	0	0	0.359	0.640	1.000	0.640	0.780