Smoke detection method with visual depth

A smoke detection method with visual depth, comprising steps of:

• providing an image camera and a depth camera;
• extracting a plurality of surrounding images according to said image camera, and acquiring a plurality pieces of surrounding depth information of said plurality of surrounding images according to said depth camera;
• acquiring image information and an outline of one or more burning object according to said plurality of surrounding images and said plurality pieces of surrounding depth information;
• estimating the smoke distribution or a location of fire source of said one or more burning object according to said image information of said one or more burning object and said outline thereof and according to a clustering algorithm;
• and
• producing alarm information according to the smoke distribution of said one or more burning object or the location of fire source thereof;
• where said clustering algorithm adopts the equations
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• and Ci=argmin ∥xi−μj∥2;
• K is the number of clusters;
• Ci is the classification of the sample set i closest to the cluster K;
• μj is the estimated location of the first cluster center;
• and j is the center of mass of each cluster center.