Person localization and distance determination using the raycast method

By using drones in search and rescue (SAR) missions, missing person detection is possible during or after the flight by analyzing the recorded material. However, person localization is equally important so that rescuers can approach the person in the shortest possible time. We propose a raycast method to determine both a person's location and the distance from the drone, using a sequence of monocular drone images. The proposed method has been tested in silico, using a custom-made procedural simulator, calibrated for windless and windy conditions. We concluded that multiple raycasting solves unreliable telemetry problems and that there is an optimal number of required iterations, depending on the telemetry noise of a specific drone.