Testing and Verification (YOLO)

Does YOLO work on grayscale images? Necessary to know for before retraining YOLO on a thermal dataset

Yes! YOLO was tested in Gazebo in the following manner:

open the model.sdf file of the kinect gazebo model in /.gazebo/models/kinect

change <format> in <camera> to read like :

<format>L8</format>

There is a slight difference in accuracy between both images but is most likely due to the camera and person model position.