KR102415062B1 - Surveillance method - Google Patents

Abstract

An embodiment of the present invention discloses a monitoring method.
A monitoring method according to an embodiment of the present invention includes: an image acquisition step of moving a confirmation means and acquiring an image providing distance information for an entire space or a part of a surveillance area using an image sensor mounted on the confirmation means; a map generation step of generating a three-dimensional map for the entire space of the surveillance area by using the information on the location where the identification means acquired the image and the distance information of the image; and a change area detection step of detecting a change area by comparing the 3D map with a pre-stored reference map.

Description

Surveillance Method {SURVEILLANCE METHOD}

Embodiments of the present invention relate to a monitoring method for detecting the occurrence of an event by periodically acquiring a distance image using a confirmation means.

Today, a number of surveillance cameras are installed everywhere, and technologies are being developed to detect, record, and store event occurrences in the images acquired by the surveillance cameras.

However, since these surveillance cameras are fixed to structures such as walls or pillars, there is a problem in that it is difficult to detect an event that occurs at a location more than a certain distance from the surveillance camera or an event that occurs at a blind spot.

Korea Patent Publication No. 2013-0112688

The present invention was created to solve the above-mentioned problems, and the confirmation means periodically captures the monitoring area to generate a 3D map, compares the generated 3D map with a pre-generated map, and detects a change area. It is intended to provide a monitoring system that can detect whether or not an occurrence has occurred.

A monitoring method according to an embodiment of the present invention includes: an image acquisition step of moving a confirmation means and acquiring an image providing distance information for an entire space or a part of a surveillance area using an image sensor mounted on the confirmation means; a map generation step of generating a three-dimensional map for the entire space of the surveillance area by using the information on the location at which the identification means acquired the image and the distance information of the image; and a change area detection step of detecting a change area by comparing the 3D map with a pre-stored reference map.

In this case, the image acquisition step, the map generation step, and the change region detection step may be repeated every preset time period, and the reference map may be a map generated and stored based on the first acquired image.

Meanwhile, the monitoring method according to another embodiment of the present invention may further include updating the 3D map generated by the map generating step to the reference map.

A monitoring method according to an embodiment of the present invention includes the steps of providing an image including the changed area to a user when the size of the area in which the change occurs, detected in the detecting step of the change area, is equal to or greater than a preset threshold size; may further include.

The image acquisition step may include moving the identification means according to a preset path and acquiring an image using the image sensor, and the distance information may be distance information from the image sensor to an object in the monitoring area. .

Other aspects, features and advantages other than those described above will become apparent from the following drawings, claims, and detailed description of the invention.

According to embodiments of the present invention, it is possible to detect whether or not an event has occurred by means of a confirmation means periodically photographing a monitoring area to generate a 3D map, and detecting a change area by comparing the generated 3D map with a previously generated map. A monitoring system can be implemented.

1 schematically shows a monitoring system according to an embodiment of the present invention.
2A schematically illustrates a process in which an image sensor included in a confirmation means acquires an image.
2B schematically illustrates an example of an image obtained by an image acquisition unit from an image sensor.
3 is an example of a 3D map generated by the map generator.
4A and 4B are examples in which the change region detection unit detects the change region.
5 is a flowchart for explaining a monitoring method of a monitoring device.

Since the present invention can apply various transformations and can have various embodiments, specific embodiments are illustrated in the drawings and described in detail in the detailed description. However, this is not intended to limit the present invention to specific embodiments, and should be understood to include all modifications, equivalents, and substitutes included in the spirit and scope of the present invention. In describing the present invention, if it is determined that a detailed description of a related known technology may obscure the gist of the present invention, the detailed description thereof will be omitted.

In the following embodiments, terms such as first, second, etc. may be used to describe various components, but the components should not be limited by the terms. The terms are used only for the purpose of distinguishing one component from another.

Terms used in the following examples are used only to describe specific examples, and are not intended to limit the present invention. The singular expression includes the plural expression unless the context clearly dictates otherwise. In the following embodiments, terms such as “comprise” or “have” are intended to designate that a feature, number, step, operation, component, part, or combination thereof described in the specification is present, but one or more It is to be understood that this does not preclude the possibility of addition or presence of other features or numbers, steps, operations, components, parts, or combinations thereof.

Embodiments of the present invention may be represented by functional block configurations and various processing steps. These functional blocks may be implemented in any number of hardware and/or software configurations that perform specific functions. For example, embodiments of the present invention may be implemented directly, such as memory, processing, logic, look-up table, etc., capable of executing various functions by control of one or more microprocessors or other control devices. Circuit configurations may be employed. Similar to how components of an embodiment of the invention may be implemented as software programming or software elements, embodiments of the invention may include various algorithms implemented as data structures, processes, routines, or combinations of other programming constructs. , C, C++, Java, assembler, etc. may be implemented in a programming or scripting language. Functional aspects may be implemented in an algorithm running on one or more processors. In addition, embodiments of the present invention may employ conventional techniques for electronic environment setting, signal processing, and/or data processing, and the like. Terms such as mechanism, element, means, and configuration may be used broadly and are not limited to mechanical and physical configurations. The term may include the meaning of a series of routines of software in association with a processor or the like.

1 schematically shows a monitoring system according to an embodiment of the present invention.

Referring to FIG. 1 , a monitoring system according to an embodiment of the present invention may include a monitoring device 10 and a checking means 20 .

Confirmation means 20 according to an embodiment of the present invention may be a flying means having wings or rotors. For example, it may be a fixed-wing type vehicle such as a conventional airplane, or a rotary-wing type vehicle such as a helicopter. In addition, the checking means 20 according to an embodiment of the present invention may be a driving means having a driving means such as a wheel. For example, the checking means 20 may be a driving means having various types of driving units such as automobiles, armored vehicles with caterpillars, and motorcycles.

The confirmation means 20 may include an image sensor 21 for acquiring an image. In this case, the image sensor 21 may be a distance camera that provides distance information for the entire space or a part of the monitoring area 30 . A depth camera is a camera that outputs the distance from the camera to all points of a scene being photographed. More specifically, each pixel has a distance value that is a distance to an object being photographed. The distance camera captures the surrounding environment or scene (space), and includes various objects existing in the scene (for example, static objects such as floors, walls, obstacles, or dynamic objects such as people and animals), distance information of the scene Alternatively, it may be implemented as a distance camera of various types, such as a stereo method, a structured light method, and a Time-of-Flight (ToF) method, which acquires depth information in real time. Although not shown, the confirmation means 20 may further include an image sensor (not shown) for acquiring a normal image composed of red, green, and blue.

The image sensor 21 acquires an image including distance information for the entire space or a partial space of the monitoring area 30 as the checking means 20 moves the monitoring area 30 , and uses this to obtain the monitoring device 10 . ) can be sent to At this time, the image sensor 21 may be connected to the monitoring device 10 through a wireless network, and in this case, the wireless network may be a network of various types of various frequency bands such as CDMA, WIFI, WIBRO or LTE.

On the other hand, the monitoring system according to an embodiment of the present invention may include a confirmation means cradle (not shown) in which the confirmation means 20 can stay for an idle time. The confirmation means cradle (not shown) may perform work for maintenance and repair of the confirmation means 20, such as supplying power to the confirmation means 20 and transmitting data.

Hereinafter, embodiments will be described on the premise that a distance camera is mounted as the image sensor 21 in the confirmation means 20 , but the present invention is not limited thereto.

The monitoring apparatus 10 according to an embodiment of the present invention may include an image acquisition unit 100 , a map generation unit 200 , a change region detection unit 300 , an image providing unit 400 , and a control unit 500 . have. However, this is only a classification for convenience/functionality, and each configuration is not physically separated, and functions performed in each configuration may be overlapped with each other, and some configurations may be omitted and included in other configurations. . For example, the image acquisition unit 100 , the map generation unit 200 , and the change region detection unit 300 may be integrated into one image processor, or the entire monitoring device 10 may be integrated into one processor.

The image acquisition unit 100 provides distance information for the entire space or a part of the monitoring area 30 photographed using the image sensor 21 mounted on the confirmation means 20 while the confirmation means 20 is moved. The image may be obtained from the confirmation means 20 . The map generating unit 200 may generate a three-dimensional map of the entire space of the monitoring area 30 by using the information on the location at which the identification means 20 acquired the image and the distance information included in the image. The change area detection unit 300 may detect a change area by comparing the generated 3D map with a pre-stored reference map. At this time, when the size of the change region detected by the change region detector 300 is greater than or equal to a preset threshold size, the image providing unit 400 may provide the user with an image including the region in which the change occurs. The control unit 500 may calculate the position of the confirmation means 20 and control the moving direction of the confirmation means 20 and the photographing direction at that time.

Hereinafter, embodiments will be described on the premise that the monitoring device 10 is provided separately from the checking means 20 , but the present invention is not limited thereto. Therefore, the monitoring device 10 may be provided in the checking means 20 or may be provided separately from the checking means 20 as in the following embodiments.

The image acquisition unit 100 according to an embodiment of the present invention may acquire an image captured by the image sensor 21 mounted on the identification means 20 from the identification means 20 .

2A to 2B show a process in which the image sensor 21 included in the confirmation means 20 acquires an image and an image (or an image sensor (or image sensor) 21) schematically shows an example of an image acquired by

Referring to FIG. 2A , the image sensor 21 included in the checking means 20 acquires an image including distance information for all or a part of the space within the monitoring area ( 30 in FIG. 1 ). For example, when there is a cube-shaped object 101 in the monitoring area (30 in FIG. 1 ), the image sensor 21 acquires an image including distance information 102 for the object and sends it to the monitoring device 10 . can be transmitted In this case, the control unit 50 may calculate the information 501 about the image capturing position of the confirmation means 20 . A detailed method in which the control unit 50 calculates information on the position of the confirmation means 20 will be described later.

2B is an example of an image (or an image acquired by the image sensor (21 of FIG. 2A )) received by the image acquisition unit ( 100 in FIG. 1 ) from the image sensor ( 21 in FIG. 2A ). In this example, the image acquisition unit ( 100 in FIG. 1 ) receives an image of a desk including a monitor and a keyboard from the image sensor ( 21 in FIG. 2A ). In addition, since the image sensor (21 in FIG. 2A) mounted on the checking means (20 in FIG. 2A) in this embodiment is a distance camera, the image includes distance information from the checking means (20 in FIG. 2A) to one or more points. can Accordingly, each pixel of the image may include a distance value to a point of the object represented by each pixel.

The map generating unit (200 in FIG. 1) according to an embodiment of the present invention uses information about the location at which the confirmation means (20 in FIG. 1) acquired the image and distance information included in the acquired image in the monitoring area (30 in FIG. 1) It is possible to generate a 3D map for the entire space. In detail, the map generator (200 in FIG. 1 ) includes the distance information included in the image acquired by the image sensor (21 in FIG. 1 ) and the checking means ( 20 in FIG. 1 ) calculated by the control unit ( 500 in FIG. 1 ). A three-dimensional map can be generated by sequentially synthesizing images using information about the location of

In the present invention, the three-dimensional map may be a result of modeling the monitoring area (30 in FIG. 1) in three dimensions using distance information included in the image acquired by the image sensor (21 in FIG. 1). That is, the 3D map may be a representation of a plurality of objects existing in the monitoring area 30 as coordinates in 3D space based on one reference point.

For example, when the image sensor (21 in FIG. 2) acquires an image including distance information (102 in FIG. 2A) to the cube-shaped object (101 in FIG. 2A) as shown in FIG. 2A, the map generating unit (FIG. 1) 200) may generate a 3D map with reference to information (501 of FIG. 2A) about the location of the checking means (20 of FIG. 2A) when the corresponding image is captured. At this time, the information (501 in FIG. 2A) about the location of the confirmation means (20 in FIG. 2A) determines the position of the object (101 in FIG. 2A) on the 3D map, and distance information (FIG. 2A) included in the image 102) and can be used to determine the size of the object (101 in FIG. 2A). In addition, the information ( 501 of FIG. 2A ) on the location of the confirmation means ( 20 of FIG. 2A ) may determine the direction in which existing images and the image acquired by the image sensor ( 21 of FIG. 2A ) are synthesized.

On the other hand, since the distance information from the image sensor (21 in Fig. 2A) to the object means the distance from the image sensor (21 in Fig. 2A) to the outer surface of the object, the 3D map is ultimately the monitoring area (30 in Fig. 1). It may be synthesized by continuously attaching the shape of the outer surface of an object that exists within and whose outer surface is exposed.

3 is an example of a 3D map generated by the map generator 200 . The image acquisition unit ( 100 in FIG. 1 ) may acquire images of all subspaces 41 to 47 existing in the monitoring area 40 from the image sensor ( 21 in FIG. 1 ). The map generator (200 of FIG. 1 ) generates a three-dimensional map as shown in FIG. 3 using the image obtained by the image acquisition unit ( 100 of FIG. 1 ) from the verification means ( 20 of FIG. 1 ). As described above, since the three-dimensional map exists in the monitoring area (30 in FIG. 1) and may be a combination of the shapes of the outer surface of the object with the outer surface exposed, the three-dimensional map exists in the detailed space 45, for example. It may include the shape of a table 451 and a chair 452 .

The image acquisition by the image acquisition unit ( 100 of FIG. 1 ) and the generation of the 3D map by the map generation unit ( 200 of FIG. 1 ) may be repeated every preset time period. In this case, the time period may be set by the user. For example, in the case of a space requiring strict monitoring, the time period may be set to repeat every 5 minutes, and in the case of a space requiring relatively relaxed monitoring, the time period may be set to repeat every 2 hours.

The 3D map generated by the map generating unit ( 200 of FIG. 1 ) may be stored separately for each time period. For example, when the verification means (20 in FIG. 1) acquires an image using the image sensor (21 in FIG. 1) with a cycle of 1 hour, the map generator (200 in FIG. 1) generates a 3D map every hour And, the 3D map for each hour may be stored in a storage space (not shown).

The change region detection unit 300 in FIG. 1 according to an embodiment of the present invention may detect a region in which a change has occurred by comparing the 3D map with a pre-stored reference map. As described above, the image acquisition by the image acquisition unit ( 100 in FIG. 1 ) and the generation of the 3D map by the map generation unit ( 200 in FIG. 1 ) can be repeatedly stored every preset time period, so the change region The detector ( 300 of FIG. 1 ) may detect a change region by comparing any one of pre-stored 3D maps with a currently generated 3D map. Hereinafter, for clear understanding, the above-mentioned '3D map' is described as 'current map', and the map selected for comparison with the current map among pre-stored maps will be described as 'reference map'.

As an example, the map generated and stored based on the first acquired image may be used as the reference map of the change region detector (300 in FIG. 1 ). The map generated and stored based on the first acquired image may mean a map generated by the map generator (200 of FIG. 1 ) when the manager operates the monitoring device (10 of FIG. 1 ). That is, when monitoring is required for an area in which little change occurs, the map generator ( 200 in FIG. 1 ) may detect a change area by comparing the first map with the current map as in this example.

As another example, the change region detection unit ( 300 in FIG. 1 ) may use the most recently updated map as the reference map. For example, if it is assumed that the current time is 4:00 am and the verification means ( 20 in FIG. 1 ) acquires an image every hour, a map generated based on the image acquired at 3:00 am may be used as a reference map. That is, when it is necessary to monitor an area where minute changes occur due to wind, vibration, etc., the map generator ( 200 in FIG. 1 ) may update the generated map as a reference map at every repetition.

Meanwhile, the change area detection unit ( 300 of FIG. 1 ) may detect the change area by comparing the shape of the object included in the current map (3D map) and the reference map. In detail, since each map exists within the monitoring area (30 in Fig. 1) at each time zone, and includes the shapes of the outer surface of the object with the outer surface exposed, the change area detection unit (300 in Fig. 1) is included in both maps. A change region can be detected by comparing the shapes of the object and the positions of the shapes. As described above, since the three-dimensional map may represent a plurality of objects existing in the monitoring area (30 in FIG. 1) as coordinates in three-dimensional space based on one reference point, the change area detection unit (300 in FIG. 1) can detect a change region by comparing the coordinates in the three-dimensional space included in the current map with the coordinates in the three-dimensional space included in the reference map and identifying the inconsistent parts.

Meanwhile, the change region detection unit 300 in FIG. 1 may detect the change region in various ways. For example, when it is detected that an object has moved within the monitoring area (30 in FIG. 1) through comparison of the current map and the reference map, the change area detection unit (300 in FIG. 1) detects the entire area displaying the object on the reference map. It can be detected as a change area. In this case, a set of coordinates indicating the object on the reference map can be detected as a change region.

In addition, the change area detection unit (300 in FIG. 1 ) is a change area in the area representing the object on the current map except for the overlapping area between the area representing the object on the reference map and the area representing the object on the current map. can also be detected. That is, among the coordinates representing the object in the current map, only the remaining coordinates except for the coordinates representing the object in the reference map may be detected as a change area. However, this is exemplary and the present invention is not limited thereto.

4A and 4B are examples in which the change region detection unit (300 of FIG. 1 ) detects the change region. For example, when Fig. 4A is a reference map including the shape of the keyboard 301a and the shape of the monitor, and Fig. 4B is a current map including the shape 301b of the keyboard, the change area detection unit (300 in FIG. 1) ) can detect a part where there is a difference between the reference image and the current image, that is, a change region. As described above, the change region detection unit (300 in FIG. 1) can detect the change region in various ways, and in this example, when detecting the “region displaying the object on the reference map” as the change region, the change region detection unit (300 of FIG. 1) may detect an area expressing the shape 302 of the keyboard on the reference map (FIG. 4A) as a change area.

The image providing unit (400 in FIG. 1) according to an embodiment of the present invention transmits an image including the change region to the user when the size of the change region detected by the change region detector (300 in FIG. 1) is greater than or equal to a preset threshold size. can be provided to

When the size of the change area is greater than or equal to a preset threshold size, it may mean that one or more objects among objects existing within the monitoring area (30 in FIG. 1 ) move or disappear. That is, when the size of the change area is greater than or equal to the preset threshold size, it may mean that an event such as an intrusion of an outsider or a fire has occurred. By doing so, it is possible to enable an immediate response of the user to the event.

The image providing unit 400 of FIG. 1 may provide a screen to the user in various ways. For example, it is possible to provide a screen that simultaneously displays the current map including the change area and the corresponding reference map. In addition, it is possible to provide a screen that sequentially displays the current map and the reference map according to the passage of time.

On the other hand, a threshold size serving as a criterion for providing an image may be set by a user. For example, when monitoring is required for an area in which little change occurs, the threshold size may be set relatively small. However, if monitoring is required for an area where minute changes occur due to wind, vibration, etc., the critical size may be set relatively large.

The control unit (500 in Fig. 1) according to an embodiment of the present invention calculates the position of the confirmation means (20 in Fig. 1), and controls the moving direction of the confirmation means (20 in Fig. 1) and the shooting direction at that time. can

The control unit ( 500 in FIG. 1 ) may calculate the position of the checking means ( 20 in FIG. 1 ) by various methods. For example, the controller ( 500 in FIG. 1 ) may calculate the position of the checking means ( 20 in FIG. 1 ) using the image acquired by the image sensor ( 21 in FIG. 1 ). As described above, the map generating unit (200 in FIG. 1) uses the information on the location where the verification means (20 in FIG. 1) acquired the image and the distance information included in the acquired image to the monitoring area (200 in FIG. 1) as described above. 30) Create a 3D map of the entire space. Therefore, the control unit (500 in FIG. 1) determines the position of the checking means (20 in FIG. 1) by confirming in which part of the 3D map the same or similar image to the image acquired by the image sensor (21 in FIG. 1) is located. can be calculated.

On the other hand, the control unit (500 in FIG. 1) may calculate the position of the confirmation means (20 in FIG. 1) by a separate navigation means (not shown). For example, the control unit (500 in FIG. 1) uses radio waves or light, such as a beacon, to determine the current position of the identification means (20 in FIG. 1) by means of navigation means (20 in FIG. 1). It is also possible to calculate the location of However, this is an example, and the present invention is not limited thereto.

The control unit (500 in FIG. 1 ) calculates the position of the confirmation means ( 20 in FIG. 1 ), and based on this, the movement direction of the confirmation means ( 20 in FIG. 1 ) and the shooting direction at that time can be controlled. In detail, the control unit (500 in Fig. 1) includes the movement path input by the user, and the control unit (500 in Fig. 1) compares the position of the confirmation means (20 in Fig. 1) with the input movement path to the confirmation means ( It is possible to control the current movement path and the photographing direction of 20) of FIG. 1 .

On the other hand, the movement path of the confirmation means (20 in FIG. 1) input to the control unit (500 in FIG. 1) may be generated by a user's manual operation. For example, the user manually manipulates the confirmation means (20 in FIG. 1) to acquire images of all the monitoring areas (30 in FIG. 1), and the control unit (500 in FIG. 1) records them so that the confirmation means (FIG. 1) 20) of the movement path can be input. In addition, the input movement route may be generated without input of the movement route by manual operation of the confirmation means ( 20 in FIG. 1 ) using navigation means such as a beacon (not shown).

The monitoring method illustrated in FIG. 5 may be performed by the above-described monitoring apparatus 10 in FIG. 1 . Hereinafter, a detailed description of the content overlapping with the content described with reference to FIGS. 1 to 4B will be omitted.

The control unit (50 in FIG. 1) acquires the moving route and the initial map of the confirmation means (20 in FIG. 1) according to the user's input. In this case, the user's input may be the acquisition of a moving route and an image through manual manipulation of the confirmation means (20 in FIG. 1 ). In addition, the user's input may be the moving coordinates of the checking means (20 in FIG. 1) according to the navigation means and the image acquired by the checking means (20 in FIG. 1) while moving according to the corresponding coordinates.

In the image acquisition unit (100 in FIG. 1), the checking means (20 in FIG. 1) moves under the control of the controller (500 in FIG. 1), and the image sensor (21 in FIG. 1) mounted on the checking means (20 in FIG. 1) ) can acquire the captured image. (S20) The image sensor (21 in FIG. 1) included in the checking means (20 in FIG. 1) provides information on the entire space or part of the space within the monitoring area (30 in FIG. 1). An image including distance information is acquired. In this case, the control unit ( 50 in FIG. 1 ) may calculate information about the image capturing position of the confirmation means ( 20 in FIG. 1 ).

The map generator (200 in FIG. 1) uses the information on the location where the verification means (20 in FIG. 1) acquired the image and the distance information included in the acquired image, the entire space of the monitoring area (30 in FIG. 1) (S30) In detail, the map generating unit (200 in FIG. 1) includes distance information included in the image acquired by the image sensor (21 in FIG. 1), and the control unit (FIG. 1). A three-dimensional map can be generated by synthesizing an image using the information about the location of the confirmation means (20 in FIG. 1) calculated by 500). In the present invention, the three-dimensional map may be a result of modeling the monitoring area (30 in FIG. 1) in three dimensions using distance information included in the image acquired by the image sensor (21 in FIG. 1). That is, since the distance information from the image sensor (21 in FIG. 1) to the object means the distance from the image sensor (21 in FIG. 1) to the outer surface of the object, the 3D map is ultimately located within the monitoring area (30 in FIG. 1). It may be synthesized by continuously attaching the shape of the outer surface of an object that exists and has an exposed outer surface.

The change area detection unit (300 in FIG. 1 ) compares the 3D map (current map) with a pre-stored reference map to detect the area in which the change has occurred. (S40) Acquires an image (S20) and creates a map based on this (S40) and (S30) the storing may be repeated every preset time period. Accordingly, the change region detector (300 of FIG. 1 ) may detect the change region by comparing any one of pre-stored 3D maps (reference map) with a currently generated 3D map (current map). As an example, the map generated and stored based on the first acquired image may be used as the reference map of the change region detector (300 in FIG. 1 ). Also, the change region detection unit 300 in FIG. 1 may use the most recently updated map as a reference map.

The image providing unit ( 400 in FIG. 1 ) determines whether the size of the change region detected by the change region detection unit ( 300 in FIG. 1 ) is equal to or greater than a preset threshold size ( S50 ). The image providing unit ( 400 of FIG. 1 ) may provide an image including the change region to the user when the size of the change region is equal to or greater than a preset threshold size. (S60) When the size of the change region is greater than or equal to the preset threshold size may mean a case in which one or more objects among objects existing within the monitoring area (30 in FIG. 1) move or disappear. That is, when the size of the change area is greater than or equal to the preset threshold size, it may mean that an event such as an intrusion of an outsider or a fire has occurred. By doing so, it is possible to enable an immediate response of the user to the event.

The monitoring device (10 of FIG. 1 ) may repeatedly perform steps 20 ( S20 ) to 60 ( S60 ) according to preset conditions. For example, the monitoring device ( 10 in FIG. 1 ) may repeatedly perform the above-described steps 20 ( S20 ) to 60 ( S60 ) at a preset time period to detect whether an event has occurred.

The monitoring method according to an embodiment of the present invention can be implemented as computer-readable codes on a computer-readable recording medium. The computer-readable recording medium includes all types of recording devices in which data that can be read by a computer system is stored. Examples of computer-readable recording media include ROM, RAM, CD-ROM, magnetic tape, floppy disk, and optical data storage device. In addition, the computer-readable recording medium is distributed in a computer system connected through a network, so that the computer-readable code can be stored and executed in a distributed manner. In addition, functional programs, codes, and code segments for implementing the present invention can be easily inferred by programmers in the technical field to which the present invention pertains.

Although the present invention has been described with reference to one embodiment shown in the accompanying drawings, this is merely exemplary, and those skilled in the art will appreciate that various modifications and equivalent other embodiments are possible therefrom. you will understand

10: monitoring device
100: image acquisition unit
101: cube-shaped object
102: distance information about the object
200: map generator
300: change region detection unit
400: video providing unit
500: control
501: information about the location of the video recording means of the confirmation means
20: confirmation means
21: image sensor
30: monitoring area
40: monitoring area
41 to 47: detailed space
451: table
452: chair

Claims (6)

An image acquisition step of moving the confirmation means and acquiring an image providing distance information for the entire space or a part of the monitoring area using an image sensor mounted on the confirmation means;
A map generating step of generating a three-dimensional map for the entire space of the surveillance area by using the information on the location at which the confirmation means acquired the image and the distance information of the image, wherein the three-dimensional map is included in the image The monitoring area is modeled in 3D using the distance information, and a plurality of objects existing in the monitoring area are expressed as coordinates in 3D space based on a predetermined reference point;
a change region detection step of comparing the 3D map with a pre-stored reference map to detect a region in which a change has occurred; and
When the size of the area in which the change occurs detected in the detection of the change area is greater than or equal to a preset threshold size, providing an image including the area in which the change occurs to the user; includes;
The change region detection step is
A monitoring method for detecting the area in which the change occurs based on a result of comparing the coordinates in the three-dimensional space of the three-dimensional map with the coordinates in the three-dimensional space of the reference map. According to claim 1,
repeating the image acquisition step, the map generation step, and the change region detection step every preset time period,
The reference map is a map that is created and stored based on the first acquired image. According to claim 1,
and updating the 3D map generated by the map generating step to the reference map. According to claim 1,
The step of providing
and providing a screen for simultaneously displaying the three-dimensional map and the reference map when the size of the area in which the change has occurred, detected in the change area detection step, is equal to or greater than a preset threshold size. According to claim 1,
The image acquisition step is
A monitoring method for acquiring an image by using the image sensor while moving the confirmation means according to a preset path. 2. The method of claim 1
The step of providing
When the size of the area in which the change detected in the change area detection step has occurred is greater than or equal to a preset threshold size, providing a screen for sequentially displaying the reference map and the 3D map according to the passage of time; , monitoring method.

Images