“…The main disadvantages of thermal images are that they do not contain as much information as the color or even the monochrome images, and they usually have a lower resolution, which makes the design of a data association function based on appearance even more difficult. There are two main directions in the literature for addressing this issue of data association: the feature engineering approaches [ 10 , 11 , 12 , 13 , 14 , 15 , 16 , 17 , 18 , 19 , 20 , 21 ] and the data-driven methods (using convolutional neural networks) [ 22 , 23 , 24 , 25 , 26 , 27 , 28 , 29 , 30 , 31 ]. The advantage of designing the data association function using data-driven methods is that after the convolutional neural network architecture is designed, through a learning process the best features are identified.…”