Latest Trends on Systems - Volume I
Testing Thermal Images Characteristics for
Thermal Images Quality Estimation
Sn. Pleshkova, Al. Bekyarski, K.Peeva
Abstract—The thermal images are produced from real working
thermo vision cameras, which work as electro-optical imaging
systems, sensitive to the mid and long wave infrared radiation, that
generates images of the observed scenes, by using the thermal
radiation emitted from the scenes. There are numerous applications of
thermal imaging systems in defense, security, military, border guards,
police, etc. and also a lot of civilian application like industrial non-
contact temperature measurement, non-destructive thermal testing,
tests of electrical power lines, building industry, medical
applications, fire rescue etc. There exist many publications in the area
of thermal cameras, thermal systems and their applications, but all the
applications of these thermal cameras and systems are greatly
depending from the quality of thermal images produced from thermal
or infrared cameras. Also there is a need of rules how to choose the
optimal thermal image characteristics. Of course, the first reason to
thinks about thermal image quality is thermo visual camera models
offered on the market. These models vary significantly, but generally
there is a tendency to permanently increase their technical
characteristics. Therefore, if it is assumed that thermal image cameras
gives the thermal images with the preliminary defined characteristics,
it is necessary to have the appropriate methods, algorithms or devices
to test and after these test to be sure about the quality of thermal
images. Another case, when the thermal image quality is important to
be known, is the case of quality of thermal images after processing or
transmitting through some communication system. Testing thermal
images quality is difficult task because of the necessarily extended
knowledge from different areas and practical experience with thermal
cameras, thermal images processing etc. There are several standards
and publications in the area of visible images subjective or objective
characteristics and the correspondent quality estimation, but here in
this article is proposed to use and modify these methods by applying
them in the testing of thermal images characteristics. The results from
this proposition are presented as experiments with thermal images
with different estimated quality from real working thermal image
surveillance system for detection motion and tracking people in
sequences of thermal images and the obtained results from the
experiments show the dependence of the algorithm for motion
detection and people tracking from thermal images quality, which is
estimated by the proposed testing algorithm for thermal images
characteristics.
Sn. Pleshkova is with the Faculty Telecommunication of Technical
University - Sofia, Bulgaria, CO +359 Bulgaria (corresponding author to
provide phone: 895 55 888 51; e-mail: snegpl@ tu-sofia.bg).
Al. Bekyarski, was with the Faculty Telecommunication of Technical
University - Sofia, Bulgaria, CO +359 Bulgaria (corresponding author to
provide phone: 895 55 888 52; e-mail: aabbv@ tu-sofia.bg).
K. Peeva is with the Faculty Telecommunication of Technical University -
Sofia, Bulgaria, CO +359 Bulgaria (corresponding author to provide phone:
884 55 833 63; e-mail: kala_peeva@yahoo.com).
ISBN: 978-1-61804-243-9
Keywords— Thermal Images Characteristics, Thermal Images
Quality, Thermo Vision Systems, Motion Detection Precision
Estimation
I. INTRODUCTION
T
HERMO vision systems work with static or dynamic
thermal images in all numerous applications like night
military or surveillance systems, medical systems or industrial
systems [1]. In all these applications the characteristics of
thermal images produced from thermal image sensors or
cameras can affect the precision or the correct final results
from thermal images observation, processing, treating or
transmitting [2]. This necessity can be satisfied applying
suitable methods and algorithms for thermal images
characteristics testing and measuring. The combinations of all
determined in testing thermal images characteristics can be
analyzed and treated as a general objective quality estimation
of thermal images. These statements outline the goal of this
article – to propose, develop and examine a method and an
algorithm for testing the main thermal images characteristics.
For the realization of this goal, first it is included a brief
description of the main important thermal image
characteristics suitable in many of wide spread thermal image
systems applications.
II. THERMAL IMAGES CHARACTERISTICS UNDER TEST FOR
ESTIMATION OF THERMAL QUALITY
Here are outlined only thermal images characteristics which
differ from these of the visible images. An essential different
thermal images characteristic is the longer wavelengths [3].
This difference lead to surface reflections for many materials
and tend to be more specula and less diffuse than in the visible
images, since the same surface irregularities are relatively
smaller compared with the long IR wavelengths than for the
short visible ones. This effect can produce errors in detection
systems as the objects may be detected twice in some extreme
cases. All other characteristics can be related not only for
thermal images, but they are typical also for the visible images.
Nevertheless, it can find some specific differences for thermal
images. Some of these characteristics are listed in Fig. 1.
It is seen from Fig. 1 that Thermal Image Characteristics
can be defined or estimates from Subjective and Objective
points of view. They can be treated also as subjective or
objective thermal images Quality. Some of the presented in
Fig. 1 thermal image characteristics like Resolution, Noise
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and Geometry are possible to evaluate both as subjective or
objective thermal images quality.
Thermal Images Characteristics
Thermal Images Thermal Images
Subjective Quality Objective Quality
Thermal Images
Resolution
Noise in
Thermal Images
Thermal images
Geometry
Thermal Images
Spectrum
Thermal Images
Dynamic Range
Thermal Images
Accuracy
Thermal Images
Overall Quality
Fig. 1 The main thermal images characteristics
There are other thermal image characteristics: Spectrum,
Dynamic Range and Accuracy typical only in the objective
quality of thermal images. For human subjective thermal
image quality estimation is used the method of Overall
Quality. The subjective image quality parameters give
information about the ability of human observer with thermal
camera in a thermal image surveillance system to detect,
recognize, and identify targets at different scenarios and also
information about the response of the thermal camera to
variable size or variable temperature targets in thermal images.
The method of Overall Quality can be applied also for the
objective thermal image quality estimation if all of the listed
thermal images characteristics can be considered together, but
in this case it is necessary to mention that all of objective
exiting methods of overall thermal image quality estimation
approach in one way or another to the accuracy of the
subjective methods, which are based on human perception of
thermal images quality [4]. For the purpose of this article it is
convenient to apply only objective thermal images
characteristics for thermal images quality estimations, since
the purpose of the article is to apply the results from the
ISBN: 978-1-61804-243-9
thermal images quality estimations into applications, which are
related to thermo vision surveillance systems. The main goal
of these systems is observation of objects or people in a secure
area, tracking these objects or people and transmitting these
thermal images as static or dynamic sequences using an
appropriate communication system. It is evident that the
subjective thermal images characteristics are not applicable in
these cases of automatic working thermo vision systems.
The Objective Quality characteristics of thermal images,
shown in Fig. 1, are very important for the above mentioned
automatic working thermo vision systems, because of
following impacts on the quality of thermal images processing
algorithms:
- noise limits camera sensitivity detecting low contrast
targets (objects or people);
- image resolution parameters or characteristics carry out
information about the thermal camera ability to perceive small
details in targets (objects or people) from high contrast thermal
images;
- geometric parameters give information about the
geometrical relations between the targets (objects or people)
and its corresponding thermal image;
- accuracy parameters or characteristics give information
about the precision of non-contact temperature measurements
using thermal cameras and methods for thermal images
processing.
The described objective quality characteristics of thermal
images, shown in Fig. 1, are included in the proposed in this
article algorithm for testing and measuring of thermal images
characteristics for thermal images quality estimation.
III. ALGORITHM OF TESTING THERMAL IMAGES
CHARACTERISTICS FOR ESTIMATION THERMAL IMAGES QUALITY
The proposed in this article algorithm of testing and
measuring thermal images characteristics for thermal images
quality estimation is presented on Fig. 2. After activation of
the algorithm start the operation “Choosing Thermal Image
Source”. There are three possibilities to choose Thermal
images from Thermal Camera, from File and from Test
synthesized thermal image. On these chosen thermal images
are prepared different types of tests to measure a lot of thermal
images important characteristics. The proposed algorithm is
arranged in such a way that it is possible to choose from all,
included in algorithm list of thermal images characteristics,
only these, which are important for a concrete case of thermal
images applications. For this reason and for facilitate the
choice of thermal images characteristics, they are grouped in
M groups (Group 1, Group 2,…….., Group M) according to
their similarity for the quality of thermal images testing
scenarios. In each group are provided several thermal images
characteristics: Characteristics 1, Characteristics 2,
………….., Characteristics N. The values as results from
measurements of each one of the chosen, in some concrete
case, thermal images characteristics are entered in block of
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Thermal Images Objective Quality Estimation. The
operations of this block in algorithm depend from chosen list
of thermal image characteristics in each case of testing thermal
images quality and from concrete application of thermal
images. However, in general, the output of this block gives an
overall estimation of tested thermal images, which must be
precise and closer in accuracy to such a subjective assessment
of tested thermal images.
Start
automatically (Auto MRTD), i.e. without human observer,
after calibration with human’s help as correction factors on
resolving each target. As testing thermal images are used four
bar targets or a trained observer. After calibration, Auto
MRTD does not require four bar targets or a trained observer.
The value of MRTD (υ ) calculated when testing the
υ number of thermal images is used as a base for
determination of a relative coefficient K (υ ) of thermal
images quality related to the noise in these images:

Choosing Thermal Images Source

MRTD(υ ).MTF (υ )
K (υ ) = , (1)
NETD
Thermal Images Thermal Images
where
From Camera From Files MRTD(υ ) is the modulation transfer function of the υ -th
thermal image in a sequence of tested thermal images;
Test
Thermal Images NETD - is the Noise Equivalent Temperature Difference of
tested thermal images.
Testing thermal images and measurement of MRTD is an
ability to detect and recognize targets (moving objects or
Thermal Thermal people) on a non-uniform background. MRTD is considered as
Images Images
Characteristic 1 Characteristic N the most important measure of thermal surveillance systems
(usually military, police or civil).
Group 1
After measurements of MRTD(υ ) and calculating K (υ )
from equation (1) is possible to use these results for
determination of Auto MRTD(υ ) , which does not require four
Thermal Thermal
Images Images bar targets or a trained observer for measurements and
Characteristic 1 Characteristic N calculations. Auto MRTD(υ ) can be calculated using the
Group 2 following equation:

Thermal Thermal
Images Images
Characteristic 1 Characteristic N
Group M
Thermal Images Objective Quality
Estimation
End
Fig.2. Algorithm of testing and measurements thermal images
characteristics for thermal images quality estimation
There are many possibilities to choose thermal images
characteristics for testing. Here in this article are used some
thermal images characteristics, defined a suitable standard for
this purpose [5].
One of these characteristics is concerning to the noise in
thermal images. The noise in thermal images is tested to
estimate thermal images cameras limits to sensitivity detecting
low contrast (temperature contrast or differences) objects or
people in thermal images [6]. The measurement algorithm is
based on determination of minimum resolvable temperature
difference (MRTD). This measurement can be done
K (υ ).NETD
MRTDauto (υ ) = (2)
MTF (υ )
Another thermal images characteristic is minimum
detectable temperature difference (MDTD), which is
equivalent of human ability to detect targets on uniform
background. The real targets of interest are usually located on
non-uniform backgrounds, i.e. moving objects or people in the
zone of thermal camera observation.
There are a lot of other important test parameters, which are
proposed and are object of standardizations, but it is not
possible here in this article to list and describe all of them.
Many of these existing test thermal images characteristics are
applied in the proposed and developed simulation model of
algorithm presented in Fig. 2 for testing thermal images
characteristics for estimation thermal images quality.
IV. SIMULATION OF PROPOSED ALGORITHM OF TESTING
THERMAL IMAGES CHARACTERISTICS FOR ESTIMATION
THERMAL IMAGES QUALITY
In Fig. 3 is presented the proposed simulation model of
described algorithm testing thermal images characteristics for
estimation thermal images quality.

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 Latest Trends on Systems - Volume I

thermal image containing uniform (with chosen value of

temperature) background and also a triangle (with chosen
different from the temperature of background other value of
temperature.

Fig.3. Simulation model of algorithm testing thermal images

characteristics for estimation thermal images quality

The simulation model of algorithm testing thermal images

characteristics for estimation thermal images quality is
arranged with the capabilities to work with real thermal images Fig.4. Synthesized test thermal image containing uniform
from Thermal Camera. In the same time it is possible to use background and triangle with different temperatures for
as source for static or dynamic thermal images, preliminary measure of MRTD(υ )
saved in files, the simulation block From Multimedia File.
This test image of triangle object can be realized with a
Also in some of the tests of thermal images characteristics it is
necessary to have some synthesized artificial testing thermal different temperature thermal images contrast. Therefore, it is
images. This possibility is realized by applying into the very useful to testing temperature sensitivity or temperature
simulation model on Fig. 3 a simulation block, named as Test contrast of thermal images, using the proposed in Fig. 3
Images. The preliminary existing thermal images or thermal simulation model of algorithm testing thermal images
images sequences saved in files can be entered by using the characteristics for estimation thermal images quality. When
block Thermal Images from File. Thermal images from these carried out the thermal images test with this test image (Fig.
three sources are viewed on Video Viewer after choosing one 4.), is proposed to use the defined Triangle Orientation
of these sources with the Multiport Switch. In simulation Discrimination (TOD) threshold as an alternative to MRTD
model on Fig. 3 is included the block AWGN Channel for method to characterize performance of thermal imagers. The
simulating a transmission of thermal images using an TOD method proposes to use a series of triangle objects for
appropriate model of communication channel. In the receiving measurements of thermal images characteristics.
part the input thermal images can be viewed on Video Viewer.
Other possibilities for using the received thermal images,
presented in Fig. 3, are the following: save received thermal
images or thermal images sequences To Multimedia File;
using blocks Out or Video To Workspace to transfer thermal
images in work space.
The simulation block Test Images in simulation model on
Fig. 3 is of great importance, because of possibility to
synthesis of test thermal images proposed in some thermal
images standards [7] and publications [8, 9] for thermal
images quality estimation. The block Test Images, shown in
Fig. 3, is realized as a program for generating a number of
synthesized test thermal images some of which are proposed in
the mentioned above thermal images standards.
Here are presented only a little part of generated with the
appropriate program, used in block Test Images, number of
synthesized test thermal images. One of these synthesized test Fig.5. Synthesized test thermal image containing uniform
thermal images, suitable for the described with equations (1) background and four bar as object for testing thermal images
and (2) thermal images characteristic minimum resolvable characteristics
temperature difference MRTD(υ ) and their corresponding In Fig. 5 and Fig 6 are presented other types of synthesized test
thermal images:
Auto MRTD(υ ) is shown in Fig. 4 as a synthesized test - first, containing uniform background and four bar as object for

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 Latest Trends on Systems - Volume I

testing thermal images characteristics;
- second, containing synthesized test thermal image with uniform
background and objects as combination from different size,
positions and orientation of four bar object (Fig. 5.) for testing
thermal images characteristics.
All of these presented here in this article test thermal images
are used in experiments to prove the proposed algorithm in
Fig.2 and corresponding simulation model from Fig. 3.
Except of presented above synthesized test thermal images
in the experiments are used also real thermal images from
Thermal Camera, shown in Fig. 3 and in this concrete case
the model of thermal camera is EasIR-9 [10].

V. RESULTS AND CONCLUSION

For the presentation of the results from the experimental
carried out test of thermal images characteristics measurements
using the developed simulation model (Fig. 3) and the
synthesized numerous thermal images is prepared the
following Table 1.
Table 1

Objects in Relative Spatial Minimum

synthesized Frequency resolvable
thermal images (Respective temperature
Objects Size) difference
(MRTD
Triangle 0.3 0.11
0.4 0.2
0.5 0.36
0.6 0.98
0.7 1.26
Four bar as 0.3 0.09
object 0.4 0.22
0.5 0.36
0.6 0.88
0.7 1.13
0.7 1.13

In this table in a comparative form are collected only (for

Fig.6. Synthesized test thermal image with uniform background
and objects as combination from different size, positions and
orientation of four bar object (Fig. 5.) for testing thermal images
characteristics
brevity) some more important results as values of measured
thermal images characteristics (in this case values of
measurements of minimum resolvable temperature difference
MRTD) for two types (triangle and four bar) objects.
The relative values in Table 1 show that there exist the
relations between the object type in test thermal image and the
value of measured minimum resolvable temperature difference
MRTD. Also the Relative Spatial Frequency, respective or
Regardless of Objects Size) are important to achieve a good
(greater values) of minimum resolvable temperature difference
MRTD.
The comparison of the values for measured minimum
resolvable temperature difference MRTD of two types
(triangle and four bar) objects show that they are greater of
simple triangle object.
The presented analysis of the brief described results in
Table 1 give the possibility to conclude, that the proposed
algorithm and corresponding simulation model can be used
with success to perform test of thermal images characteristics
and from these results to estimate the quality of thermal
images, used in thermo vision systems.

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 Latest Trends on Systems - Volume I

ACKNOWLEDGMENT
This work was supported by National Ministry of Science
and Education of Bulgaria under Contract DDVU 02/4-7:
“Thermo Vision Methods and Recourses in Information
Systems for Customs Control and Combating Terrorism
Aimed at Detecting and Tracking Objects and People”.

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[1] K. Beier, H. Gemperlein, Simulation of infrared detection range at fog
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[2] M. Vollmer, S. Henke, D. Kartadt, K. Mollmann, F. Pinno,
Identification and Suppression of Thermal Reflections in
InfraredImaging, InfraMation, 2004
[3] Zhang, Z.M., Tsai, B.K. and Machin, G. Radiometric Temperature
Measurements: II., 2010.
[4] H. R. Sheikh, M. F. Sabir, A. C. Bovik, "A Statistical Evaluation of
Recent Full Reference Quality Assessment Algorithms", IEEE
Transactions on Image Processing, vol. 15, no. 11, pp. 3440-3451,
Nov. 2006
[5] ASTM standard E 1213-2002 “Standard Test Method for Minimum
Resolvable Temperature Difference for Thermal Imaging Systems”
[6] Holst G.C., Infrared Imaging System Testing, Vol.4, Chapt. 4 in The
Infrared & Electro-Optical Systems Handbook, Michael C. Dudzik ed,
SPIE 1993
[7] ASTM standard E1311-99 “Standard Test Method for Minimum
Resolvable Temperature Difference for Thermal Imaging Systems
[8] D'Agostiono, Webb C., 3-D Analysis Framework and measurement
methodology for infrared systems noise, Infrared Imaging Systems:
Design, Analysis, Modeling and Testing, SPIE
[9] Rumen Yordanov, Rosen Miletiev, Ivaylo Simeonov, Emil Iontchev -
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[10] GUIDE® EasIR-9 Thermal Camera User Manual. Wuhan Guide
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