It is a challenging task to recognize smoke from images due to large variance of smoke color, texture, and shapes. There are smoke detection methods that have been proposed, but most of them are based on hand-crafted features. To improve the performance of smoke detection, we propose a novel deep normalization and convolutional neural network (DNCNN) with 14 layers to implement automatic feature extraction and classification. In DNCNN, traditional convolutional layers are replaced with normalization and convolutional layers to accelerate the training process and boost the performance of smoke detection. To reduce overfitting caused by imbalanced and insufficient training samples, we generate more training samples from original training data sets by using a variety of data enhancement techniques. Experimental results show that our method achieved very low false alarm rates below 0.60% with detection rates above 96.37% on our smoke data sets.

Smoke density estimation from a single image is a totally new but highly ill-posed problem. To solve the problem, we stack several convolutional encoder-decoder structures together to propose a wave-shaped neural network, termed W-Net. Stacking encoder-decoders directly increases the network depth, leading to the enlargement of receptive fields for encoding more semantic information. To maximize the degrees of feature re-usage, we copy and resize the outputs of encoding layers to corresponding decoding layers, and then concatenate them to implement short-cut connections for improving spatial accuracy. The crests and troughs of W-Net are special structures containing abundant localization and semantic information, so we also use short-cut connections between these structures and decoding layers. Estimated smoke density is useful in many applications, such as smoke segmentation, smoke detection, disaster simulation. Experimental results show that our method outperforms existing methods on both smoke density estimation and segmentation. It also achieves satisfying results in visual detection of auto exhausts.

Smoke has semi-transparency property leading to highly complicated mixture of background and smoke. Sparse or small smoke is visually inconspicuous, and its boundary is often ambiguous. These reasons result in a very challenging task of separating smoke from a single image. To solve these problems, we propose a Classification-assisted Gated Recurrent Network (CGRNet) for smoke semantic segmentation. To discriminate smoke and smoke-like objects, we present a smoke segmentation strategy with dual classification assistance. Our classification module outputs two prediction probabilities for smoke. The first assistance is to use one probability to explicitly regulate the segmentation module for accuracy improvement by supervising a cross-entropy classification loss. The second one is to multiply the segmentation result by another probability for further refinement. This dual classification assistance greatly improves performance at image level. In the segmentation module, we design an Attention Convolutional GRU module (Att-ConvGRU) to learn the long-range context dependence of features. To perceive small or inconspicuous smoke, we design a Multi-scale Context Contrasted Local Feature structure (MCCL) and a Dense Pyramid Pooling Module (DPPM) for improving the representation ability of our network. Extensive experiments validate that our method significantly outperforms existing state-of-art algorithms on smoke datasets, and also obtain satisfactory results on challenging images with inconspicuous smoke and smoke-like objects.