Table 3.

Studies conducted on human detection and evaluation of the studies.

Detection accuracy	Operating range	Spatial resolution	Power consumption	Environmental robustness
Medium accuracy; limited to complex backgrounds35	Short to medium range; affected by debris density	Limited spatial resolution due to clutter	Medium; Depends on sensor type	Sensitive to environmental noise and obstacles
High accuracy (89% overall); Deep learning improves detection44	Effective on 10 cm concrete walls	High resolution with pulse radar and CNN	Medium; Portable system design	Robust against material interference with AI support
Improved accuracy with AI integration45	Variable; sensor and scenario dependent	Medium; enhanced by multi-sensor data fusion	Medium; UAV and sensor power constraints	AI helps mitigate environmental challenges
Reliable detection using multi-sensor fusion46	Short to medium range; robot mobility limits	Medium; combined visual and thermal sensors	Low to medium; Low-cost sensors prioritized	Limited by terrain and vibration
High accuracy through multi-modal fusion and deep learning47	Medium range; suitable for urban environments	High spatial resolution from EO/IR and RF fusion	Optimized for low swap-C on mobile platforms	Robust in urban clutter and variable conditions
Effective detection of breathing and pulse via radar32	Medium range; UAV-borne sensors	Medium; fusion with lidar improves mapping	Medium; UAV power limits mission duration	Robust to limited visibility and urban clutter
Effective survival detection with multi-sensor drone48	Medium range; Infrared Ultra-Wideband (IR-UWB) radar and laser rangefinders	High resolution with lidar and camera fusion	Medium; UAV energy constraints	Robust in complex post-disaster environments
High accuracy (87.9% correlation with vital signs)49	Short to medium range under rubble	High resolution for multiple targets	Medium; Radar power optimized	Sensitive to target pose and debris variability
Reliable detection using PIR and heart rate monitoring50	Short range; robot proximity required	Low to medium; sensor fusion improves	Low; Designed for field deployment	Limited by environmental noise and debris
Improved detection with dual-frequency IR-UWB radar51	Medium range; improved penetration	Medium; bandwidth increases resolution	Medium; Dual-frequency operation	Robust to weak vital signals under rubble
Improved detection accuracy with wavelet processing52	Medium range; effective clutter suppression	Medium; improved signal extraction	Medium; Computationally efficient	Robust in complex demolition scenes
Effective detection combining CO2, thermal, and audio53	Short to medium range; sensor synergy	Medium; sensor fusion improves localization	Medium; Sensor types vary	Robust to debris with a multi-sensor approach
Reliable target detection through various walls54	Medium range; handheld UWB radar	Medium; real-time detection	Medium; Handheld design	Robust to different wall materials
Accurate heartbeat detection with IR-UWB transceiver55	Short to medium range; multi-survival	Medium; pulsed Doppler phase detection	Very low power; Optimized for low power	Robust to noise with Gaussian pulse shaping
Effective life detection with microwave system56	Medium range; L-band frequency	Medium; frequency shift detection	Medium; Mechanical and antenna design	Robust to metabolic and cardiac fluctuations
Reliable life signs with wireless sensor network Detection57	Medium range; multi-sensor integration	Medium; sensor network improves detection	Medium power; Wireless communication	Robust in field and harsh environments
Effective life-detection radar for multiple applications58	Medium range; electromagnetic wave penetration	Medium; physiological characteristic detection	Medium power; Radar optimized	Robust in a variety of disaster and military environments