# A Thermal Imaging Flame-Detection Model for Firefighting Robot Based on YOLOv4-F Model

> Research article (Fire, 2022) · cited 22× · AI/ML

**Wikidata**: [openalex:W4307134500](https://www.wikidata.org/wiki/openalex:W4307134500)  
**Source**: https://4ort.xyz/entity/a-thermal-imaging-flame-detection-model-for-firefighting-robot-based-on-yolov4-f-model