Comprehensive and Comparative Study of

Drowning Person Detection and Rescue Systems

Muhammad Aftab Hayat1 Goutian Yang 2 Atif Iqbal3
School of Control & Computer School of Control & Computer School of Renewable Energy & Clean
Engineering Engineering Energy
North China Electric power University North China Electric power University North China Electric Power University
Beijing, China Beijing, China Beijing, China
aftabsukhera@gmail.com
Adeel Saleem4 Muhammad Mateen5
Department of Electrical Engineering School of Renewable Energy & Clean
the University of Lahore Lahore, Energy
Pakistan North China Electric Power University
Beijing, China

Abstract— Drowning is the leading cause of death for the past
few years because of this. It has become a severe problem for
progressive countries. This article is the extensive surveys of
current progress made towards the swimming pool rescue
systems by using different techniques. Different aspects of
human drowning systems are discussed here with their core
technologies and applications. Various methodologies have
been adopted for autonomous swimming pool safety with their
intelligent control systems. Different detection and rescue
techniques like motion detection, pressure sensing, image
processing, heartbeat sensing, video-based detection, HSV
based detection, and LASER-LDR mechanism have been used.
Our analysis, which aims to provide a broad state-of-the-art
review of the field which also addresses different challenges
related to these systems and applications. Additionally, in this
evaluation, several applications are debated in excessive detail.
This article is the scrutiny of used approaches and an
intermingling which can quickly and accurately implemented.
Finally, after surveying the territory, we have also mentioned
the future scope of research which can be fulfilled the
requirements of the domestic swimming pools. At the end we
also proposed our model which can satisfy all the flaws present
in the existing pool rescue systems.
Index Terms – Drowning, pool rescue, image
processing, LASER-LDR, HSV, Poseidon, RF System, heartbeat
sensor, pressure sensor
I. INTRODUCTION
Swimming pools are inspiration of enjoyment for seasonal
traveler, with kids and young is similar to sorting
sufficiently of splash times in hot weather. In swimming,
fun, and exercise area with danger. Drowning is very
devastating and awful form of death because it put the preys
in a confused state of trying to save himself, gasping for
breath and also trying not to interred the water in the nostrils
and mouth. According to [ILS] International Lifesaving
Federation, Drowning is defining as “act of experiencing
difficulty in breathing as result of excess entry of liquid into
mouth or nostrils leading to a lightening of blood in the
lungs. Then blood rapidly loses its ability to carry oxygen
effectively, and this can lead to death”[1]–[3], swimming is
very popular sports in some countries but beginners, in
water can’t breathe easily which cause suffocating, losing of
balance and leads to drowning accident. In some particular
circumstances, such as mutual collision, mental stress,
cramps, and illness are major cause of drowning. In
children, under the age of five drownings is the primary
cause of disability and death. Globally, after the road
accident, drowning has higher mortality rate than any others
basis. Drowning happens in lakes, rivers, ponds, beaches,
oceans, swimming pools, irrigation canals, bathtubs, and
animal feeders, while the young infants may also drown in
the buckets, tubs and even in toilets[4]–[7], Many young’s
can be injured or immerse during entertaining activities,
such as boating, diving and swimming in open water.
According to the Center for Disease Control and Prevention,
in the world approximately one thousand children died
annually because of drowning. In 1976 the initial drowning
alarm system was introduced with this some applications,
but somehow these technologies are not standard. French
visual IQ company in 2001 implemented a 1st commercial
drowning alarm system named Poseidon. Nanyang
Technological University of Singapore in 2003 implemented
video-based surveillance system for the monitoring of
drowning victims. The system is based on various cameras
which are fixed underwater at different position. Based on
location of the cameras there are three types of anti-
drowning systems, overhead cams, underwater cameras, and
overhead with underwater cameras. Finally, many ideas
present in the previous few years to prevent the drowning
victims and rescue them. Here we analyze some useful
insights, with their advantages and disadvantages briefly[6],
[8], [9]
II. REVIEW OF EXISTING DROWNING DETECTION SYSTEMS.
Identification of drowning person still has challenging task
even for experienced lifeguards, particularly in children and
unexperienced swimmers because there is no particular
behavior expressed for nearly drowning person or drowned
person. Here analyzed the different proposed methods,
based on accuracy, complexity of design and
implementation. This also involves feasibility and cost
efficiency, Success rate, reliability, site performance, and

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c IEEE

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maintenance requirement are also being considered in the
review. As the technology grownup, different wearable
devices and video-based surveillance systems for reduction
of drowning is considered as first choice.
A. POSEIDON
Poseidon is drowning person detection system based on
computer vision algorithms. The system is commonly
installed in the swimming pools, bathing areas or in the
standing water where risk of drowning is present. Drowning
is the primary cause of injuries and deaths in the swimming
pools or lakes. By analyzing the behavior of swimmers in
the swimming pools Poseidon makes the swimming pools
safer. The system has lifeguards who are continually
monitoring the swimming pools with different angles. The
method entails dual underwater and overhead cameras
(depending on pool design) and these cameras are connected
with computer vision system that are using several
overlapping views (essential matrix, fundamental matrix,
epipolar geometry) which are looking motion or motionless
swimmers on the surface of swimming pool. Underwater
cameras are continuously scanning the pool bottom, while
overhead cameras provided the helicopter view of the
swimming pool and excellently located and differentiate a
person partially or fully submerged in the water, IR
technology is also used in Poseidon for better performance.
The system continuously analyzing the motion of all
swimmers in the pool. If the swimmer is motionless on the
bottom of the swimming pools for specified time. The
system triggered the alarm and determined the exact
location of the victim and lifeguard react quickly to save the
victim. The drawback of this system is that it is specific for
the swimming pools not for beaches, lakes, etc. secondly
some time the lifeguard is not present in the pool or ignored
the alarm then critical situation is created [1], [10]
B. SENTAG
Sentag is early stages drowning detection system,
implemented in Australia which provides security to
swimmers via a wristband sensor provide to individual
swimmers. The wristband is used to continuously monitor
the swimmer’s motion, depth and time in the water. On the
walls of the swimming pool sensors are mounted which are
continuously monitoring the swimmers location if the
swimmer goes to the pre-set value depth or spending a more
time in water then wristband send an alarm signal via
ultrasonic and radio frequency transmission system to
control unit and also the wristband start sound and LED
light start blinking. It is the indication that swimmers back
to the safe level. If the swimmers are not responding
according to demand, then system sends an emergency call
to the lifeguard or control unit to rescue the drowning
person. This system is suitable and significantly reduce
probability of falls alarm. The wristband alarm system also
triggered an alert if a person is motionless for threshold time
also. The wristband alarm device considerably reduces near-
drowning and drowning events especially in children in
home swimming pools [11].
C. WAHOOO
In this swimming pool alarm system, a headband used to
send an alarm to the receiver’s network if the person in
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water for long time. The system did not take into account
the near-drowning complexities [12]. The proposed method
is video-based drowning system, but technology is sensor
disturbance and prone to visual, mainly when the pool is
crowded [13], [14]. The various anti-drowning system has
been introduced primarily uses the physiological features, in
the previous few years like swimming cap, heartbeat
monitoring system, pressure sensor, etc. but users are very
selective to adopt the drowning prevention systems [15].
Swimming cap must have at swimming pools because
several swimmers have option for swimming cap [16].
Generally, a drowning victim is panic, which causes an
increase in heartbeat and blood pressure. To differentiate the
near-drowning indications, faster pulse due to the quicker
nervous activates from the regular swimmers. The victim in
near-drowning situation mostly struggles vertically in a
position for long time which indicates possible drowning
condition.
Authors of the paper, “An Automatic Video-based
Drowning Detection System for Swimming Pools Using
Active Contours,” a various number of color spaces are
available which are suitable for surveillance and video
tracking. Here HSV color based real-time anti-drowning
system was proposed. This system can use the previous
information of video sequence to set the best value for color
space channels. In HSV technique some frames are selected
from the video sequence and in these frames’ thresholding
mechanism is applied to detected counter and region of
interest. These techniques are used to all selected frames and
caught the drowning victim. The software identified the
victim who is drowning in the swimming pool or a person is
missing for a considerable time in the swimming pool an
alarm sent to the control unit and lifeguards. By this system
no of falls alarm is reduced while maximum alarm delay
error is 2.6 sec reported by system, which is considered to
be suitable for rescue and other remedial efforts. This idea is
implemented on different swimming pools on real condition
and also tested on different recorded videos and obtained a
high accuracy on individual tracking’s. This system gives
reliable results if used multimedia based surveillance
system[17].
“automated drowning detection and security in the
swimming pools” author proposed a model which based on
two primary modules, base station, and wristband module.
Radiofrequency module and pressure sensor are integrated
into the wristband which wears the swimmers in the pool
while base station consists of LCD, buzzer, motor drive
module, and RF receivers. On the base of the swimming
pool acrylic plates is placed which is controlled by the
motor drive unit to bring the victim on surface. The motor
module consists of high torque motor and motor driver.
Before entering the swimming, pool blood pressure is
measured and defined the threshold value. The wristband
monitoring the blood pressure constantly and comparing
with the thresh hold vale. If the value is exceeding or
decreasing the threshold value, micro-controller send alarm
signal to the based station through wireless RF system. On
receiving the alarm signal a buzzer is turned on, and motor
control system also lifted the acrylic plates and brought the
drowning victim to surface. This system is simple, cost-
saving and convince to use because only one sensor is used
in wristband, but drawback is that acrylic plates limit its use
at large water reservoirs like rivers, seas and lakes[18].
“Automatic Drowning rescue system for humans Using
RFID” the author suggested the idea of drowning person
detection and rescue using RFID module. RFID sensor
attached to the human is responsible for underwater human
detection. In the module GPS and GSM module are used,
GPS is location identification of person while GSM is used
to SMS alert to boat. The RFID system has two modules
Tag and Reader, the variable locations person is equipped
with RFID reader, which generating RF signal continuously
while tag is attached with person’s hand. When RFID came
near to reader, the reader is triggered and send a unique
message to it by antenna. For identification of Tag, a
programmed is burred in PIC Micro-controller. This can
have activated the GPS which can send the location signal to
Micro-controller, then with the help of GSM a signal is
conveyed to the boat to rescue the victim. The location of
the person is retraced to rescue the drowning person. The
main advantage of the system is, automatic detection of the
drowning person and rescuing the victim with lesser time.
The disadvantage of this system is, normal RF reader range
is 10cm instead of 3-4m at frequency 125KHz[19].
“A camera-based system for early detection of drowning
incidents”. In this article, author suggested a system that can
detect the drowning person at early stages. In this technique
overhead cameras are used to identify the motion of the
swimmers because underwater cameras have more
installation and maintenance cost. Moreover, their reliability
and accuracy are very low at crowded environment.
Overhead camera-based system is capable of detecting
drowning persons at possible earliest stage. This system
consists of mainly two parts, in first part a vision component
to identify and track the swimmers in the pool, also extract
features of their motion and shape into observation
sequence. 2nd is event inference module, which compares or
analyze the swimmer feature sequence to determine the state
of the swimmer has failed into a drowning situation. The
author focused on vision component, shape, and motion of
swimmers feature extraction. The main problem of overhead
cameras is to detect the crowded environment to extract
their movement and shape base feature. Due to sunlight
reflection, multiple swimmers’ moment, a non-stationary
situation of swimming pool and air blow, the future
detection with accuracy is challenging. This method is only
useful in stagnant swimming pools[20][21].
“Automatic Waist Airbag Drowning Prevention System
Based on Motion Information” author presents a novel
technique based on motion information, which is measured
by a pressure sensor and accelerometer sensor. This
technique mainly based on automatic airbag system which
continuously monitors the position of the swimmer and
rescues him in suffering condition. The system contains to
follow the swimmer a waist airbag which equipped with
accelerometer and pressure sensor. The accelerometer is
used to control the motion of the swimmer and pressure,
which is placed in cap of the swimmer and continuously
monitoring the blood pressure. If the swimmer spent more
time underwater or motionless for a threshold time, then a
signal is sent to trigger the alarm and control unit which are
connected with high torque servo motor to inflate the airbag.
Servomotor pulls the cable of PFD belt and inflate the
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cylinder filled with CO2 which brings the swimmer to
surface. The water-sensitive devices are confirmed for water
protection by gum dipping and epoxy coating. The system is
useful for drowning victim and also separating it from
possible drowning available techniques[22].
“Anti-Drowning System with Remote Alert Using ZigBee”
Author proposed the idea for drowning person detection
based on heartbeat rate. The heartbeat rate of the swimmers
is continuously monitored by sensor and sent to the control
unit using ZigBee coordinates. The system consists of
transmission and receiving circuits, transmission circuit is
with the swimmers underwater with a range of 2 to 4 meters
depending on transmitter, while the receiving channel is at
the control unit to monitor the heartbeat rate continuously,
LCD is attached to the AVR microcontroller at the
receiver’s end to show heartbeat rate of the swimmer.
Heartbeat sensor is mounted on the head of the swimmers
that are informing the current position of the swimmer
underwater. The buzzer and LCD is present at the receiver’s
end if the heartbeat of the swimmer fluctuating then buzzer
and LCD is turned on to inform the lifeguards to rescue the
drowning victim[23].
III. PROPOSED SWIMMERS DETECTION AND RESCUE MODEL
The work done on anti-drowning systems until now is
primarily focused on detection is very low as per
requirement. All the methods that are discussed here are
some advantages and disadvantages regarding accuracy,
cost, and implementation of the system. To overcome these
disadvantages, we proposed a vision based on early
drowning detection and rescue system. In this model we
tried to overcome these deficiencies which are present in the
previous system. The basic flowsheet figure which shows
the primary operations is shown below.
Figure1 Basic Flowsheet Diagram for the autonomous drowning people
rescue system
A. PROBLEM STATEMENT
We aim to build an overhead camera base system which is
capable of detecting and rescue the drowning people in the
swimming pool at the earliest possible stage. A tracking and
rescue system for drowning person in the pool using stereo
has been proposed in this paper. The project consists of two
major parts, in the first part (software base) drowning person
is identified by using different algorithms while in the
second part (hardware part) the person is rescued by the
autonomous robotic arms.
Here, we propose a computer-aided work-flow to detect
drowning accidents in the swimming pool. We divide our
work into two phases:
• Swimmer detection module, the event inference
module
• Deployment of the project with the rescue
operation.
The software and tools used for this project are Python,
OpenCV. The major hardware component that would be
required for the project are:
• Micro-controller STM32
• High-Quality Webcam
• ASLONG JGB37-555 Motor
• Motor Drive Circuit
• Power Supply
• Omron Encoder E6A2-CW3C
B. SWIMMER DETECTION
For the identification of the drowning person at least four
overhead cameras with a reasonable amount of resolution
are required. The swimmers in the pool are detected, tracked
and segmented with the help of these cameras. Image
sequences from all the cameras must be acquired
continuously. Cameras cover the region in rectangular
format that’s the four cameras must be arranged in the show
format to cover the whole area of the pool. Some part of the
pool is overlapped by the four cameras to overcome this
problem cameras are stitched to make one virtual camera to
get better-quality video for the further processing. Once the
images would be acquired the first step of the processing
chain would be the identification of the quality of the
images. If the quality of the image will be good it would
proceed for further processing. However, if the image
quality will be low then the image is enhanced by using the
image quality enhancement algorithms. The captured image
will be 24-bit RGB image; therefore, it is converted into
grayscale. For the removal of distortions and artifacts,
introduced during image capturing and enhancement, a
different type of filtering techniques would be applied so
that image close to the enhanced initial image could be
recovered. The greyscale image than will be further
converted into binary image using simple thresh-holding
ViBe algorithm technique.
Figure 2. Shows the camera arrangements for the proposed model
The background modeling of the complete pool area is
modeled with a gaussian mixture model and to estimate the
parameters of the gaussian model, Expectation
maximization algorithm is used.
In aquatic environments, the chance of ghosting is much
more than merely environmental. In open swimming pools
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the reflection, refraction, motion of water waves, clothes of
different colors wearing by the swimmers and splashes of
water is present which make more critical of the
environment to detect the target for better results. We
addressed these challenges, and many more are enlisted
below:
• Swimmers detection wearing different colors of
swimming dress
• Tracking of every swimmer in the pool
• Detect the features of swimmers
• Types of features required to analyze and
characterize the swimmer behavior
• Define some specific rules that define the person is
drowning.
• Incorporate temporal information for some time to
analyze an event
• How to detect the incident on initial stages
The proposed approach is based on the predefined rules,
prior knowledge and recommendations from researchers is
highly dependent on the swimmer behavior. By inspecting
the struggle of the drowning these incidents will be detected.
Inspecting the nature of struggle of the drowning person, it
can be characterized into two types.
• Active drowning swimmers
• Passive drowning swimmers
Sudden drowning without much struggle is called passive
drowning while if the swimmer does some fight before
drowning and move his limbs firstly to keep his body up is
called active drowning
The computer model of the project is shown in the figure 3
is indicating the complete working model of the project.
First of all, the acquired image background extraction will
be performed. Like other natural scenes, the background of
the swimming pools is homogeneous consisting of few
differences. Background area of the proposed swimming
pool is modeled with the state-of-the-art Gaussian Mixture
model algorithm. After that the target would be detected.
Detection of a goal is not as difficult as tracking of the exact
target is. Therefore, machine learning model would be
trained for the improvement of the result.
Figure 3 Shows the Logical flow-sheet diagram of the proposed model
To find the features of an individual swimmer, swimmer
tracking is applied and the predefined functions are obtained
from the detector and tracker algorithm. These features are
used to infer the spatial and temporal information of a
swimmer. Hence the features include temporal data as well,
so the feature reduction is not an appropriate choice to
reduce the feature set. Further the obtained features contain
only orientation and behavioral information linked with a
specific swimmer and losing any information spatially or
temporally can reduce the inference performance.
C. SWIMMERS TRACKING. Figure 4. Shows the best fit ellipse model for the connected region
Tracking of a moving object from a video sequence is a
If the object would be drowning, then more images would
burning issue nowadays. If the background of the moving
be captured with different time frames and would be
object is changing dynamically then it’s challenging to
processed. If the object would be changing its pattern
track. For better tracking of object from video we must have
continuously and rapidly, then the decided purpose would
to know the exact features of the object such as textures,
be treating as drowning and command would be sent to the
shape, color, etc.
controller of the rescue robot. Drowning person detection
The Camshift algorithm is used for detecting the swimmers,
results would be then given as input to Kalman filter and
and the Kalman filter is used for tracking the target. The
cam-shift based trackers. The robot would then continuously
vision component uses the Kalman filter for monitoring the
estimate the position and the velocity of the drowning
detected swimmers. The position of the swimmers in every
person in the pool local coordinates system to appropriately
frame firstly predicted by the Kalman filter and then
control its motion and so rescues the drowning person in
segmentation of the swimmers occurs. The ellipse model is
time.
used for identification of the drowning person in the pool.
The size of the each tracked swimmers is approximate by E. RESCUE THE SWIMMER
the best fit ellipse model. The length of the ellipse major After finding the centroid of the drowning person, the
axis's is defined by the size of the search window. The Coordinate of the drowning person is calculated. These (X,
correspondence is established between the tracked swimmer Y, Z) coordinate of the drowning person is fed to the
and the segmented swimmer by examining their locations, microcontroller. The microcontroller is controlling the three
defined as the position of centroids of ellipse. servo motors of the robotic arm, which are used to rescue
D. FEATURE EXTRACTION the drowning person.
The tracked swimmers have many features including as, IV. FUTURE SCOPE:
variation in swimmers speed and shape size.
The comprehensive study of the work realized that ‘anti
1) Shape Features
drowning systems’ domain is an integral part of security and
Commonly the swimmers have two body positions, parallel
safety of human in public swimming pools. It pays its
to the water surface and nearly vertical to the water surface.
massive contribution to the development of human rescue
The overhead cameras are capable to observed these two
system under the risk of drowning in swimming pool. The
body positions and characterized by elongation measures
work done on anti-drowning systems until now is primarily
which are the ratio of minor and major axis of the best fit
focused on detection is very low as per requirement. There
ellipse. If the elongation measure of the oval is nearly to
is still need a system that detects the drowning victim and
equal to one, the body has a circular shape and considered to
take corrective measures, so as the results rescue the person,
be in drowning condition. If the elongation measure of the
record the happening information and send it to the concern
oval is greater than one, the swimmer's body position is
authorities. For providing of real-time data of the swimmer
parallel to the water surface and considered to be in
to surface a mobile application is developed which support
swimming condition.
the underwater wearable for altering every swimming event.
2) Feature for evaluating the drowning person
For the accurate and precise geographical location of the
Following rules are defined to describe the drowning person
swimmer, where the incident of drowning occurs,
in the swimming pool.
GSM/GPS should be used. The costal gourd should be well
• Move slowly in a small region. trained and professional, remain nearby the pool. In most
• Body position is nearly vertical researches they used overhead cameras or only underwater
• Irregular and fast limb movement. cameras to monitor the position of the swimmer which is not
All of these rules are used as a feature to estimate the enough to rescue the victim. If the overhead and underwater
drowning person in the swimming pool. When the swimmer cameras are used at same time and robotic arm is used to
is in difficulty its motion is decreased rapidly and start pick the victim, this type of monitor system gave us better
revolving in neighborhood. For vertical body, when the results. In the development of anti-drowning systems this
swimmer begins drowning it tries to keep his mouth above can bring a drastic change. The annual death rate due to
the surface of water for breathing, lower part is in the water, drowning incidents is reduced considerably by using this
and upper part is out of water which makes nearly circular dynamic system. This system should be essential parts of the
shape of the body for camera. This circular shape of the swimmers and swimming related activities in coming days.
frame defines the drowning position.

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Table I: Comparison of different anti-drowning system.
V. CONCLUSION:
The comprehensive and comparative study of different
anti-drowning and rescue systems presented a variety of
available ideas which are conflicting in their reliability,
accuracy, installation cost, maintenance cost, complexity
and mode of use. The system based on image processing
give higher accuracy but needs high cost for maintenance
and installation. Whereas LASER-LDR is essay to install
and cost effective but accuracy is lower. The use of RF
transmitter and pressure sensing is suitable to rescue a
drowning victim by acrylic metal plate but use able only a
small scale not suitable for large scale. RFID technology
is suitable for large water bodies but it can only generate
alarms and not rescue the victim automatically. The waist
airbag system found to be suitable of the existing systems
which provides both autonomous rescue and detection of
drowning person in swimming pool. This system is cost
effective, suitable for large scale use and reliable solution
of all the available solutions.
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