Machine Vision and Applications (2010) 21:941–948
DOI 10.1007/s00138-010-0276-x
ORIGINAL PAPER
An integrated fire detection and suppression system based
on widely available video surveillance
Feiniu Yuan
Received: 26 June 2008 / Accepted: 28 July 2009 / Published online: 15 June 2010
© Springer-Verlag 2010
Abstract An integrated system based on video surveillance
is presented for automatic fire detection and suppression. The
system is composed of two modules, including fire detection
and fire suppression. The fire detection module makes full use
of traditional CCD cameras for fire recognition. Some spatio-
temporal features, such as color and motion, are extracted to
detect fire in real time by utilizing sequential image process-
ing techniques. Once a fire is detected, the system will control
the fire suppression module to extinguish the fire automati-
cally. It mainly consists of control device, mobile device, and
water gun. Experiments performed in a large space hall show
that the integrated system can detect a fire about a few seconds
after ignition and automatically suppress the fire quickly.
Keywords Video surveillance · Fire detection ·
Fire suppression · Motion detection
1 Introduction
Thermal disasters, such as fire, frequently cause huge eco-
nomical and ecological damages as well as death of many
people. To avoid such disasters, many fire monitoring and
extinguishing systems are developed. Many fire detectors
used by existing systems are based on particle sampling, tem-
perature sampling, relative humidity sampling, and smoke
analysis [1]. These sensors are applied very widely due
to their low cost and high sensitivity. However, they must
F. Yuan (B)
School of Information Technology, Jiangxi University of Finance
and Economics, Nanchang 330032, Jiangxi, China
e-mail: yfn@ustc.edu
be installed in the close proximity of fires; otherwise fire
cannot be detected at all. Therefore, these detectors cannot be
successfully applied in large or open spaces. Those detectors
are often rendered invalid by dust or other non-fire particles
due to long-term direct contact with those particles. Some
detectors make use of infrared sensors, but that leads to high
cost for surveillance.
Up to now, video surveillance is widely used in commer-
cial and military fields [2] such as traffic [3], portable applica-
tions [4]. Video fire detection has been proposed to solve the
aforementioned problems. It not only detects a fire far from
cameras, but also provides visual information about the fire.
Video fire detection can easily integrate fire safety into con-
ventional public security by fully utilizing surveillance hard-
ware that is widely available. According to detected objects,
it can be classified into two categories: video flame detection
and video smoke detection.
1.1 Video flame detection
Yamagishi and Yamaguchi [5] presented a flame detection
algorithm. They used color features to segment flame pixels
and then the spatio-temporal fluctuation data of the flame
contour was extracted to identify fire. However, many non-
fire objects have the same color distributions as fire. Although
accurate parameters for color distribution of flame can be
acquired by learning, false segmentation cannot be avoided.
False segmentation greatly affects the subsequent decision.
Noda and Ueda [6] presented a fire detection system based on
gray scale images. The system was applied in tunnels. They
also analyzed the relationship of temperature with the ratio
of G to R since color images are widely used. Gray level
histogram features were used to recognize fire. A Gauss-
ian-smoothed color histogram can also be used to detect
fire [7]. The Gaussian-smoothed color histogram was used
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942 F. Yuan

to generate a color lookup table of fire pixel and then tem- system detected more fires and faster than the traditional
poral variation of pixel values was extracted to determine fire detection systems. In order to develop novel techniques
whether there was a fire pixel or not. The method is insensi- for video smoke detection, Xiong et al. [22] adopted back-
tive to the motion of camera. But it cannot segment fire pix- ground subtraction, flickering extraction, contour initiali-
els well when there are fire-colored objects. Motion, flicker, zation, and contour classification using both heuristic and
edge blurring, and color features can be combined together empirical knowledge about smoke. Toreyin and Cetin [23]
for flame and smoke detection [8]. Healey et al. [9] used var- presented a wildfire detection algorithm using LMS-based
iable size rectangles to ensure that their algorithm is equally active learning. I proposed a transparent model [24] and a
sensitive to the same size fire. Several tests were applied to motion model [25] for smoke detection.
each pixel within every rectangle and then connected compo-
nent analysis was followed. Toreyin et al. [10,11] presented
1.3 Fire suppression
an infrared video based flame detection method using hid-
den Markov model, and wavelet analysis. Yuan et al. [12]
Fire suppression systems often use water and foam to
also proposed a flame detection method based on Gaussian
extinguish fires. Water has become the most widely used
mixture model.
fire-fighting agent due to its nice performance of fire sup-
pression. The principle of water is the removal of heat from
1.2 Video smoke detection
the fire through their heat capacity and latent heat of vaporiza-
tion [26]. Therefore, water-based fire suppression systems are
In most cases, fires are developing from smouldering. Smoke
usually applied in most cases of non-electricity fires. Water
often appears during that stage. So detection of smoke pro-
has various popular modalities for fire suppression, such as
vides an earlier alarm of fire. Smoke detection can be mainly
high-pressure water spray, water mist [27], and so on. Most
classified as three categories [13–16]. The first category is the
of these systems are usually installed on a fixed location.
histogram-based smoke detection. The histogram of color is
These fixed-location systems monitor limited ranges. A fire
used to detect the presence of smoke in videos. Several statis-
suppression system based on water spraying was developed
tical measures, such as mean and standard deviation, are com-
by the State Key Lab of Fire Science [28]. The system can
puted to determine the probability of the presence of smoke.
be controlled by computers. It can automatically search the
The second one is temporal analysis-based techniques. Direct
location of fire and guide the water gun to point to the fire,
differences of successive frames and wavelet transform of
in order to suppress fire rapidly. Recently, the system was
temporal values of pixels are used to extract time-varying
further developed to be able to move the water gun along a
features. The third one is rule-based techniques [17]. Knowl-
fixed path under control of computer. Thus, the system can
edge of fire is coded as some rules to infer the presence of
monitor large ranges of scene.
smoke. Some approaches utilized combined techniques to
In this paper, I mainly focus on investigating video-based
determine the appearance of smoke. When there is smoke in
fire detection and integrating our algorithm into the mobile
a scene, edges of the scene will lose their sharpness and the
fire suppression system. The main contribution of this paper
scene becomes grayish. So Toreyin, Dedeoglu, and Cetin [18]
is integration of the two systems.
extracted such features to monitor possible decreases in both
This paper is organized as follows: in Sect. 2, the system is
high-frequency content and chrominance values of pixels.
described in detail; in Sect. 3, implementation of the system
They presented contour-based smoke detection method using
is presented; Sect. 4 gives experimental results; in Sect. 5,
wavelet transform. Guillemant and Vicente [19] used tem-
the paper is concluded.
poral embedding of gray-levels, fractal indexing of points,
chaining points into a linked list and motion extraction from
point sequences of the linked list for forest smoke detec-
tion. Because smoke is similar to steam in appearance, steam 2 System description
detection is also introduced. Ferrari et al. [20] presented a
real-time image processing technique for the detection of Figure 1 shows the integrated system based on video sur-
steam in video images. In their method, a statistical Hidden veillance for automatic fire detection and suppression. The
Markov Tree (HMT) model derived from the coefficients system includes fire detection and suppression modules. The
of the dual-tree complex wavelet transform (DT-CWT) in former module is mainly composed of CCD cameras, video
small local regions of the image sequences is used to char- servers, and image processing computers. Our system is able
acterize the steam texture pattern. An SVM classifier is used to directly utilize video surveillance hardware which was
to detect steam. Gottuk et al. [21] evaluated the effective- installed originally for security. When the fire detection finds
ness of commercial video image fire detection systems for a fire, it will control the fire suppression module to automat-
small, cluttered spaces on Navy ships. They found that the ically extinguish fire.

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An integrated fire detection and suppression system based on widely available video surveillance
Fig. 1 System overview
3 Implementation
3.1 Fire detection
As we know, flame and smoke are two visible characteristics
of early fire. So I focused on flame and smoke detection based
on video which are the key techniques for video fire detection.
Videos can be acquired in real time from monitored scenes
by using traditional inexpensive cameras which are widely
available in military and commercial securities. I make use
of computer image processing and computer vision technol-
ogies to analyze image sequences. By using color CCD cam-
eras, I can implement contactless and non-obstructive fire
detection. The system can be installed in large or open spaces.
1/2 e 2 (2)
My fire detection module uses a 4-path video card for real-
time image captures.
3.2 Flame detection
As shown in Fig. 2, color values at the same position are
automatically recorded per frame by our developed software.
Figure 2 shows fluctuation chart of pixel intensity in the RGB
channel. X-coordinate is the frame number and y-coordinate
corresponds to intensities of R, G, and B values. For exam-
ple, red green, and blue points stand for different intensities
of R, G, and B components, respectively. We take advan-
tage of Gaussian mixture model and frame difference tech-
niques to adaptively extract a background image from image
sequences captured by CCD color cameras [12]. An adaptive
background model is able to mostly eliminate influences of
artificial lights, wind, and moving object disturbance. Fore-
ground objects, which are possible fire pixels, are obtained
by subtracting the background image from the current frame.
Color, shape fluctuation, and growth rate are used to deter-
mine if a possible pixel is an actual fire pixel.
When there is no fire, pixel values (R, G, B) match a
Gaussian distribution with a low mean value. Once fire is
943
Fig. 2 Pixel intensity in the RGB color space
just burning up, pixel value changes violently at once and
leaps into another Gaussian with a high mean value.
A single adaptive Gaussian per pixel would be sufficient
for most cases. But when there are cluttered objects in the
complicated background, such as sway of tree leaves, multi-
ple Gaussians are required. The recent history of each pixel,
{X1 , X2 , . . ., Xt }, is modeled as a mixture of K Gaussian dis-
tributions. The probability of observing the incoming pixel
value is
⎛ ⎞
 K 
P(Xt ) = wi,t · η ⎝Xt , μi,t , ⎠ (1)
i=1 i,t
In Eq. 1, K is the number of distributions, wi,t is the normal-
ized weight of the ith Gaussian at time t, μi,t is the mean
color value,  i,t is covariance matrix of the ith Gaussian at
time t, and η is a Gaussian density function as follows:
  1
− 1 (X−μ)T −1 (X−μ)
η X, μ, =
(2π ) D/2
Where D is the dimension of color values, D often equals
three for chromatic pixels and one for gray scale pixels. K
is determined by the available memory and computational
power, currently from 3 to 5.
Dynamic feature is the fluctuation of shape. To measure
this feature, we pay more attention to area and shape of fire
region. Only early warning of fire is significant for fire sup-
pression. When the area of fire region is larger than some
threshold and then tends to expand, there are possible fire
events occurring. Fire shape changes frequently over time,
while shapes of sun, flashlight and other artificial light often
change slowly.
3.3 Smoke detection
Smoke detection is relatively more difficult than flame
because smoke reduces image contrast. Therefore, most
background estimation methods cannot obtain good results.
As shown in Fig. 3, the sequential images are processed
in the following stages: motion detection, color detection,
motion feature extraction, and recognition [25]. The algo-
rithm is briefly described in the following paragraphs:
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944 F. Yuan

Sequential
images

No
Motion detection

Yes
No
Color detection

Yes
Motion feature
extraction Fig. 4 Searching scheme

No
Classifying
Yes

Fire alarm

Fig. 3 Flow chart of video fire detection

In the motion detection stage, I do not make use of adaptive

background models. Sum of absolute difference within each
block is used to reduce noise disturbances. Flame and smoke
exist only in dynamic scenes. If a scene is completely static, Fig. 5 Accumulation of motion orientation
sub-sequential processing is unnecessary.
Color is also an important feature for smoke detection.
Color of smoke is from white-bluish to white when the tem- For each block, I accumulate the estimated motion orien-
perature of smoke is low and from black-grayish to black tation along the time axis as shown Fig. 5. Histogram HT (θ )
when the temperature rises just before ignition. Color dis- of orientation within a given time window is first computed.
tributions of smoke pixels can be modeled by learning or Then the orientation is computed by Eq. 5.
experience techniques [29]. For the sake of simplicity, color θmax = arg max{ HT (θ )} (5)
ranges of smoke pixels are manually specified and saturation θ
detection was performed in RGB color space [25]. Intensity of motion accumulation is computed by Eq. 6.
Higher intensity of accumulation means that motion of

W 
H
S ADn (i, j) = |Fn−1 (x, y)− Fn (x + i, y + j)| (3) objects lasts for more time.
x=0 y=0
1 
8
(i, j) = arg min{S ADn (i, j)} (4) A= HT (θ ) (6)
i, j∈Ts WT
θ=1

Motion plays an important role in video smoke detection.
There are many methods [30] proposed for motion esti-
mation, such as optical flow. Most of them are prohibitive
because it is time consuming. I take advantages of the Sum
of Absolute Difference (SAD, Eq. 3) as a matching crite-
rion using a searching scheme as shown in Fig. 4 to estimate
motion. Motion parameters (i, j) with minimum value SAD
are regarded as velocity of that block (Eq. 4). The orientation
of velocity is discretized into eight directions which are 0◦ ,
45◦ , 90◦ , 135◦ , 180◦ , 225◦ , 270◦ , and 315◦ . These discrete
directions are coded as 1, 2, 3, 4, 5, 6, 7, and 8, respec-
tively. If a block is stationary or the parameters of velocity
are (0, 0), the direction is coded as 0. This processing can be
formulated as
The concept of integral image was first introduced by Viola
and Jones [31] and further developed by Lienhart et al. [32].
The integral image techniques greatly speed up extraction of
rectangular features, and it is widely applied in many areas,
such as face detection. To speed up motion estimation, the
integral image technique can be used to compute the sum
of absolute difference. But the accuracy is degraded due to
integral image.
Figure 6 shows experimental results of motion features
extracted by our algorithm. In the 1st row of Fig. 6, the
accumulative motion orientation is marked by blue to red
arrows. Blue arrow stands for accumulation equal to a spec-
ified threshold Ta and red one stands for maximum accu-
mulation 1.0. Arrows with blue-red gradual changing color

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An integrated fire detection and suppression system based on widely available video surveillance 945

Fig. 7 The water gun is moving along the fixed path

Fig. 6 Motion features extracted by our algorithm. a Estimated

motion. b Accumulation Fig. 8 Moving device and water gun

have accumulation between Ta and 1.0. Motion orientations

with accumulation intensity less than the threshold Ta can be
deleted and cannot be displayed. As we can see, the number
of arrows with blue-red color is much enough to raise a fire
alarm. In the 2nd and 3rd rows of Fig. 6, the motion arrows
are gradually disappearing when the fire is being suppressed
by our fire extinguishing equipment. It is completely invisi-
ble as long as the fire is entirely put out. Green arrows stand
for accumulative motion of noisy disturbance.
In the recognition stage, motion features together with
other spatio-temporal characteristics are regarded as a fea-
Fig. 9 Control device
ture vector to be inputted into a classifier, such as BP Neural
Network, Support Vector Machine and Bayesian. Accord-
ing to these features, a Bayesian classifier is used for final installed on the moving device, as shown in Fig. 8. When the
decision. movement is completed, the water gun will automatically
start to spray water to suppress the fire.
3.4 Fire suppression The fire suppression module can be fully controlled by
the control device, as shown in Fig. 9. The control device
The automatic fire suppression module has two basic func- can communicate with a PC through COM port.
tions which includes fire location and fire extinguishing.
When the fire detection module raise an alarm, the fire detec- 3.5 Integration
tion module will send a signal to the fire suppression module,
and then the fire suppression module will scan the monitored The fire detection and suppression modules are developed
scene to exactly locate the fire by using infrared emitter and individually. The two sub-systems can work well separately.
receiver. After the fire location is determined, a mobile device One of our objectives is to integrate both fire detection and
will move quickly along a fixed path in order to get to an fire suppression in order to implement seamless processes of
appropriate position, as shown in Fig. 7. The water gun is detecting and extinguishing fire automatically.

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946 F. Yuan

Because the communications utilize COM port, the Table 1 Smoke experiments
control program must be written using the RS232 proto- Combustible Environment Smoke size Response
col. The fire suppression module has its own control pro- time (s)
tocol. According to the control protocol, the control program
Dry leaves Outdoors, wind Large 7.6
is written and integrated into the fire detection software.
Gasoline Outdoors, no wind Large 3.96
Because the system requires frequent status enquiry about
the fire suppression model in real time, the control program Gasoline Indoors Small 8.6
is running on the background in a newly created thread while Cotton ropes Outdoors, wind Medium 3.96
video fire detection is running on another thread at the same
time at 25 frames per second.

4 Experiments

The software was implemented using VC++ and it was run-

ning on a standard PC with a dual core 1.8 GHz processor.
To evaluate average response time, detection rate and false
alarm rate, four smoke videos and four non-smoke videos
were used. All the experiments on the videos were performed
by us.
The four smoke videos are outdoor dry leaves smoke
(Fig. 10a), outdoor gasoline smoke (Fig. 10b), indoor gas-
oline smoke (Fig. 10c) and outdoor cotton rope smoke
(Fig. 10d). Table 1 gives experimental results.
As for outdoor dry leaves smoke, the image size of smoke
is large, as shown in Fig. 10a. Although there is wind, our
system can find the smoke in 7.6 s. The second experiment
is gasoline smoke performed outdoors, as shown in Fig. 10b.
Response time for smoke detection is 3.96 s. It is very short
due to no wind and large image size of smoke. We also per-
formed a gasoline smoke experiment in a large space hall, as
shown in Fig. 10c. Because the image size of smoke is small,
response time is 8.6 s. Its response time is a little longer than
Fig. 10 Smoke experiments
Fig. 11 Non-smoke experiments
the second experiment. The fourth experiment is cotton rope
smoke, which also had short response time of 3.96 s. Smoke
experiments show that our system can detect smoke at very
early stage.
The four non-smoke videos are outdoor two walking per-
sons (Fig. 11a), outdoor basketball players (Fig. 11b), indoor
police lamps (Fig. 11c) and outdoor traffic (Fig. 11d). Table 2
gives experimental results.
Figure 11a illustrates two persons who were walking from
left to right. Because the scene was very simple, our system
did not raise any fire alarm. A complicated scene was shown
in Fig. 11b. Several players went around on the basketball
playground. The system did not give false alarm. A flicker-
ing police lamp was shown in Fig. 11c. Although the lamp
emits fire-colored light, accumulation of motion is very low.
So the system also did not give false alarm due to low accumu-
lation of motion. But for the fourth non-smoke video, there
were cars, trucks, buses, bicycles, pedestrians, and so on. The
system raised false alarms due to very complicated cluttered
scene. But the rate of false alarm was very low compared
to the total number of frames. So it is clear that the system
is not suitable for detecting fire in highly dynamic, outdoor,
colorful scenes. But in most normal cases, the fire detection

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An integrated fire detection and suppression system based on widely available video surveillance 947

Table 2 Non-smoke
experiments Object type Environment Image size of Total frame Frame number of
object number false alarm

Two walking persons Outdoors Small 1274 0

basketball Players Outdoors Medium 4535 0
Flickering police lamp Indoors Large 1125 0
Street traffic Outdoors Large 16114 87

Fig. 12 Experiments with videos from web

Fig. 14 An experimental hall of large space

Fig. 13 Software interface of the integrated fire detection and suppres-

sion system
Fig. 15 Automatic suppression of fire

module did not raise any fire alarms, and the fire suppression
module did not start to work for fire extinguishing.
Two videos, which are publicly free available from
http://signal.ee.bilkent.edu.tr/VisiFire/Demo/SampleClips.
html, were used to test the system. As shown in Fig. 12a,
it is a non-smoke video of car lights, and no alarm is trig-
gered. As shown in Fig. 12b, the system can detect smoke in
a video in a short time.
Figure 13 gives a snapshot of software interface of the
integrated system which includes video fire detection and
automatic control of fire suppression.
As shown in Fig. 14, we performed an on-line experiment
of fire detection and automatic fire suppression in a large
space hall. First, our integrated software started to monitor
the experimental scene in advance. About 1 liter gasoline
was poured down into a 30cm×30cm oil box. A laboratory
assistant ignited the oil and then he left the scene quickly.
About 6 s later, the fire detection module raised a fire alarm
and at the same time it controlled the fire suppression mod-
ule to automatically extinguish the gasoline fire, as shown in
Fig. 15.
5 Conclusions
We have presented an integrated system based on video
surveillance for automatically detecting and extinguishing

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fire. The system is mainly composed of two modules
which are responsible for fire detection and fire suppression,
respectively. The former module makes full uses of tra-
ditional widely available CCD cameras. Computer vision
techniques are adopted to extract color and motion character-
istics for real-time fire detection. Our fire detection algorithm
is capable of detecting fire as long as it is visible. When the
module finds a fire, the system will control the fire suppres-
sion module to automatically suppress fire. The fire suppres-
sion module is composed of control device, mobile device,
and water gun. On-line experiments performed in a large
space hall show that the integrated system can detect fire in
about a few of seconds after the fire was ignited and the fire
was suppressed rapidly.
Acknowledgements This project was supported by Foundation of
Education Department of Jiangxi province (GJJ09297) and Natural
Science Foundation of Jiangxi Province (2007GQS0076). Special
thanks are given to Professor Zhang Yongmin of the State Key Lab
of Fire Science and anonymous reviewers for their helpful suggestions.
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