Detection Thermal

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Reference	Sensors	Object Type	Sensing Modality Representations and Processing	Network Pipeline	How to generate Region Proposals (RP)	When to fuse	Fusion Operation and Method	Fusion Level	Dataset(s) used
Guan et al., 2018 [pdf][ref]	Vision camera, thermal camera	2D Pedestrian	RGB image, thermal image. Each processed by a base network built on VGG16	Faster-RCNN	RPN with fused features	Before and after RP	Feature concatenation, Mixture of Experts	Early, Middle, Late	KAIST Pedestrian Dataset
Takumi et al., 2017 [pdf][ref]	Vision camera, thermal camera	Multiple 2D objects	RGB image, NIR, FIR, FIR image. Each processed by YOLO	YOLO	YOLO predictions for each spectral image	After RP	Ensemble: ensemble final predictions for each YOLO detector	Late	self-recorded data
Wagner et al., 2016 [pdf][ref]	Vision camera, thermal camera	2D Pedestrian	RGB image, thermal image. Each processed by CaffeeNet	R-CNN	ACF+T+THOG detector	After RP	Feature concatenation	Early, Late	KAIST Pedestrian Dataset
Liu et al., 2016 [pdf][ref]	Vision camera, thermal camera	2D Pedestrian	RGB image, thermal image. Each processed by NiN network	Faster-RCNN	RPN with fused (or separate) features	Before and after RP	Feature concatenation, average mean, Score fusion (Cascaded CNN)	Early, Middle, Late	KAIST Pedestrian Dataset