Natural disasters always make a huge problem for human beings. One of the problems is, it needs some time to identify where the victims are located. Inline, the impacted area still unstable and dangerous that could harm the SAR team. To handle this situation, we use Quadcopter to access it. A camera attached to it is used to detect victims, but the detection process needed a longer time. To reduce the time process, we implemented Cascaded Canny Edge and SURF. This method also improve detection accuracy up to 7%. The Canny Edge simplifies the image and creates a unique feature with a specific line that feeds the SURF method that reduces the computational process and time. This research reported a Cascaded canny edge with the SURF method which is compared with the only SURF method in detecting the object. The location of detected victims will be a target parameter to simulate a quadcopter which runs on gazebo. Total time response in searching victims is better using cascaded canny edge with SURF more 6% than the SURF only method.