DE10341426A1 - Area e.g. railway station platform, monitoring method, monitors defined areas to detect situations which are then classified according to type and location by using video camera signal analysis - Google Patents

Abstract

Area monitoring method whereby object recognition is achieved by video signal analysis. During a setup phase, parameters relating to the space to be monitored and the types of situation to be detected are manually or automatically entered. Finally in a cyclical monitoring phase, the defined traffic areas are monitored to detect situations of the defined types, which are then classified according to type and location. An independent claim is made for a space monitoring system, especially for monitoring railway platforms with a video camera system.

Description

The The invention relates to a room monitoring method for traffic areas, in particular for platforms and / or railway tracks for situation detection by means of evaluation of Video signals in a room surveillance system.

The Space surveillance system consists of one or more arranged in a sensor plane Camera systems, a arranged in a processing level computer system and in a communication level arranged input / output devices and transmission devices.

method for monitoring Platforms and / or train tracks are available in different versions known. Likewise, there are a number of different monitoring systems different construction. In many areas to be monitored in particular in public traffic areas the monitoring takes place with installed electronic cameras. The pictures taken are usually over Monitors evaluated in real time by appropriate supervisors and can also of recording devices for a later evaluation stored available be put. The supervisors can determine with high certainty whether certain areas of space, at specific times or in particular Situations must be free of critical objects, in fact the required state or whether certain actions need to be taken in order to to correct the dangerous situation. Such free space monitoring are everywhere It's where people, animals or things go by your own Presence endangered or their presence in one place already Hazard situation represents.

Farther It is known objects by means of the stereo correspondence formation to recognize. Two cameras are arranged offset locally. These record the object to be observed, and about the Assignment of corresponding positions of specific object points and measuring the distance between the positions of the object points the location of the object is determined (stereo triangulation). These solutions have the disadvantage, especially if they are over the entire binocular visible image area should be applied as a result too few data available stand with sufficient accuracy reliable statements about the exact stay of the object at a given time too to have. For a fully automatic object recognition these methods are not alone suitable. In addition, such methods are frequently used False alarms.

From the DE 196 21 612 C2 a device for monitoring a track section in a station is known, in which a space of a track section is monitored with respect to the presence of interfering objects and a report signal is generated, which is transmitted via remote image data transmission to a monitoring station, which is occupied with a person. Along the track two opposing camera units are arranged above the track area. These are designed as two individual cameras set up as a stereo pair. In this case, the track section to be monitored is detected binocularly both by the one and the other camera opposite. Furthermore, means are arranged which perform a separate or combined comparison of the measurement points obtained from the stereo correspondence formation for both viewing directions of the arranged camera units with a stored 3D normal model. The deviations from the comparison are then detected. This solution requires an increased installation effort. It is not designed for fully automatic operation. In particular, the miscommunication rate is too high.

Of the Invention is based on the object, a room monitoring method and a Space surveillance system to create on a video-based basis, which is very fast install, operate and maintain in the appropriate traffic area, the economical is, less susceptible against disturbances and failures of components, and thus an almost permanent reliable monitoring especially with regard to the driverless operation in automatic Guaranteed tracks.

The Task is according to the invention with the features of the 1st and 13th claim solved. The room monitoring method according to the invention works for traffic areas, as known per se, by means of the evaluation of video signals. According to the invention Space surveillance system in a novel way, manually or automatically in a parameterization phase, the one or more traffic areas to be monitored Traffic space and one or more types of situations to be detected set, d. H. parameterized and adapted. Subsequently, will in the actual monitoring phase the one to be monitored Traffic space fully automatic on situations previously determined been examined. Over a Classification becomes the type of current situations and the assignment detected to the specified traffic areas.

According to the invention, as a difference from the prior art, at least one current and one or any of them may be added at each cycle time many past images of one or more cameras are processed. The results of the detection are logged in the form of messages and optionally images or image sequences and / or additional information according to the clock and / or event principle and provided on an external interface. The system-specific parameters are considered, the traffic area to be monitored is structured into individual areas and the type of situation to be identified is defined.

Parallel to the actual monitoring can automatically self-diagnose at any time intervals the functionality of the procedure. A situation is a parametrizable one State or process for at least one object or apparition characterized by Properties of the involved objects and phenomena, their spatial Dimensions, temporal dimensions, structural relationships, movements and / or changes.

One Traffic area is part of a traffic area that is marked is due to the specifics of its spatial and / or temporal location and extent, the possibility of occurrence of certain Situations as well as the importance of the occurrence of the traffic system. He can optionally in time and / or space be configured parameterizable areas. Traffic spaces can be both public accessible (eg platforms) and also inaccessible areas (eg tunnel entrances, premises, operating areas etc.).

The inventive method will be implemented over a novel room surveillance system with the traffic space, such. B. monitors a platform and / or railroad track becomes. The room surveillance system according to the invention has three different levels, a sensor level, a processing level and a communication level. The sensor level consists of one or more arranged camera systems. The processing level consists of a computer system of one or more microcomputers and the communication level is provided with input / output devices and transmission devices. According to the invention a camera system consisting of at least two calibrated cameras, which are installed so that they have a common area of to be monitored View traffic space, with both cameras in a limited area above the Traffic space or near the to be monitored Traffic space are positioned. In particular, the cameras are above the track or edge area positioned. To control the system and the Data provisioning uses special I / O and transmission devices.

Of the Advantage in the video-based invention Technology with automatic video image evaluation over the The state of the art is independence infrastructure and vehicle fleet, the reduced system architecture, the relatively low installation and maintenance costs, the favorable cost position, the manual fallback, the minimum impairment of structural conditions, the increased sense of security of travelers, the applicability of the records as operational and legal Evidence and the relatively easy extensibility and constant updating ability of the entire system. So z. B. Software development installable without problems at any time.

Of the biggest advantage lies in the reliable fully automatic Video image analysis, taking into account the diverse environmental and environmental conditions the installed system based on the specific application is working. The possible structuring the traffic space in temporally and / or spatially parameterizable areas offers the advantage that the room surveillance procedure on the different local Special features of the monitored Traffic space can be adjusted.

By the possibility allowing the definition of different types of situations the invention, in a single compact room surveillance system for the first time all possible Faults and Automatically detect, detect and detect other events evaluate. As an added benefit across from Previous method is the possibility given to generate different prioritized messages. This concludes also the predictive generation of certain messages before the actual Danger occurs i.e. Danger is in arrears, z. B. to warn people directly at the edge of the platform immediately before the train enters.

In a special expression the room monitoring procedure continues the monitoring phase from a detection and a message process together. The detection process exists from several repetitive detection steps with adjustable Cycle time. In each detection step in each case current Pictures and / or any number of past pictures of one or processed several cameras or camera systems. The detection results will be forwarded to the notification process. The generated Message process in several message steps after the clock and / or according to the event principle from the respective situations the associated prioritized Single messages.

In another specific form of the room monitoring method according to the invention, the remote messages are evaluated by additional information as critical, potentially critical or uncritical. This results in a clear separation of the identified situations with the possibility of a clear and automatic response to the situation determined in each case.

In a particularly advantageous embodiment of the room monitoring method the image processing takes place both in the mono method and in the stereo method and the results of each method may optionally be superimposed as needed and linked become. In particular, the recognition probability of the objects and phenomena significantly increased and false alarms are largely avoided.

Advantageous it is further, if the situation recognition takes place by means of procedures, the brightness differences, contrast differences, text differences, Movements, shapes, stereo effects and triangulations of image segments several pictures as well as semantic background knowledge about the Use traffic area. This can be misjudgments of critical incidents within the to be monitored Minimize the scope of automatic person-independent monitoring as much as possible.

The Security of the situation detection in the room monitoring method according to the invention can be continue to improve if the traffic area to be monitored additionally Completely or partially with an artificial one Illumination in the visible and / or invisible area, with light limited wavelength and / or polarized light all the time, Illuminated temporarily or clocked. In image processing Then the image data and / or the information from the additional artificial Video-based lighting recorded, processed for evaluation and in the room surveillance process considered. A prerequisite is that the cameras are designed so that they the extra Can detect light. Here is the room monitoring system with an additional artificial Illumination of light in the visible and / or invisible range, of light of limited wavelength and / or polarized light. This may vary depending on the local Conditions at appropriate locations of the monitored traffic area arranged become. It is with the room monitoring system interconnected and can be controlled or regulated by this.

The Image processing results in the room surveillance method according to the invention in one special case in messages, depending on the situation diagnosis message, Platform message, track message, edge message, intrusion message and train message are generated, leading to corresponding evaluations. This leads to a clear and easy-to-grasp evaluation of messages for many typical applications.

A further increase security in the identification of critical incidents possible if in image processing also the color information of the image data be evaluated.

In a further training of the room monitoring process can in case of failures and disorders an automatic reorganization of the system with consideration of history. This has the advantage that in case of system failure within short Time the system is monitoring can continue and already detected dangerous situations automatically can be followed up.

Advantageous It is when all the cameras of the room surveillance system according to the invention for the better Alignment with freely adjustable, but for the detection of fixable Lenses are equipped.

The Installation of the room monitoring system can be simplified if all cameras, even those of several camera systems, for the Detection on a single device carrier in one spatial limited arrangement over the traffic space or in the vicinity are firmly attached and can be changed to align in multiple degrees of freedom, where It is beneficial to use the cameras or cameras of each camera system to be able to focus on different traffic areas. Farther can Advantageously, one or more camera systems on each one along the single device carrier be arranged an axis. As a rule, the axis is horizontal across the direction of travel the track or edge area. Depending on the specific circumstances In the traffic area, there are also deviations within the spatially limited Arrangement possible.

In order to an automatic restart of the room monitoring system are made possible can, is also the system with additional hardware and software technical Equipped facilities that automatically take effect after failures and faults.

In a special arrangement in the room monitoring system exist the camera systems each consist of at least two interconnected, cameras working as stereo cameras, whereby also individual and / or several cameras independently from each other in special operating cases programmatically as Monocameras can be switched. Thereby can the failures individual cameras are automatically compensated.

Farther It is advantageous if the cameras of a camera system directly each connected to an input of an associated microcomputer are who takes the evaluation, and indirectly each having an input of at least one other Microcomputers are interconnected, so that in special operating cases this Microcomputer take over the evaluation can. Thereby can also system-internal disturbances z. B. a microcomputer can be bridged without disadvantages for the automatic evaluation.

Ultimately leads the Use of several microcomputers and corresponding equipment and interconnection to the fact that several computers complementary tasks Edit and / or multiple computers redundantly edit the same tasks, where operational between the two modes can be changed. This leads on the one hand to Performance increase of the plant and on the other hand to increase the Security and availability.

Farther can Facilities may be present which have malfunctions and malfunctions Automatically detect the system itself.

With the method according to the invention and the associated Space surveillance system can be fully automated platform monitoring in driverless operation realized for the protection of persons and also the used technology become.

The Invention will be hereinafter in an embodiment as an arrangement and methods for a stationary one Platform monitoring system for one single-track subway platform, which is mainly used in the establishment company, will be explained. The drawing shows a room monitoring system for the Traffic space of a subway.

The traffic area to be monitored is composed of the traffic areas of platform track, platform edge area and penetration area. Under the monitored platform track area is the entire spatial area that includes the track body and is used by the rail vehicles. The platform edge area is the area from the platform edge to a defined parting line that extends laterally along the platform edge at a certain distance. The length of the traffic area to be monitored is the entire area accessible to the public plus a defined area at each of the platforms. The latter are followed by the respective penetration areas. The room monitoring system is designed to monitor the entire platform track area and platform edge area. Objects are detected when they have a defined surface facing the cameras (usually it is sufficient if the surface is assumed to be at least 0.4 m ² ). These are, in particular, all persons who penetrate or have invaded the room to be monitored. Critical objects can also be objects, such as suitcases. By contrast, newspapers, items below a certain size, such as beverage cans or falling or left-over garments, are not detected. Another object to be detected is the train. Apparitions can z. As fires, smoke, fire or flooding. Persons, animals or objects that enter areas that are not accessible to the public (entrance and exit areas of the Gleistunnel) are subject to separate surveillance.

situations arise either from individual objects or phenomena, or combinations of these. For example, one Person at the platform edge, a person at the platform edge at train entrance, a person in the track area at train entrance or Persons at the platform edge at stop of the train specific types of situations.

The Room surveillance system according to the invention for platforms and / or for Railway tracks are equipped with four cameras at the sensor level on a single device carrier along a Horizontal axis transverse to the direction of travel in a limited space Arrangement over positioned on the track or edge area and are firmly attached. They are changeable for alignment in several degrees of freedom. The four cameras belong to two camera systems operating in different traffic areas aligned along the platform.

1 shows an embodiment of a room surveillance system according to the invention with a spatial structuring. Over a railway track 1 is in the tunnel area of the tunnel entrance exit 4 (as a spatially limited arrangement) in the same amount a single device carrier 6 arranged along an axis. On the equipment carrier 6 are two camera systems 7 and 8th fixed so that their direction of sight is directed against the incoming train. The opening angle of the lenses of the first camera system 7 (inner camera system) is set so that there is a first detection area 9 , which is here until about half of the entire platform 2 ranges, monitors. This ensures that the safety-critical areas, such as the penetration area exit 13 the tunnel entrance exit 4 , the railway siding area 11 and the platform edge area 12 passing through the platform edge 3 are separated, can be monitored NEN. The setting of the second camera system 8th (outer camera system) causes the monitoring of the second of the equipment carrier 6 further away detection area 10 the platform 2 including the tunnel entrance driveway 5 and the associated penetration area entrance 14 , This spatially limited arrangement of the device carrier 6 including the camera systems 7 and 8th has the advantage that the installation and maintenance on site significantly reduced. In addition, if the processing level, consisting of a computer system of microcomputers and a communication level with input / output devices and transmission devices, is arranged spatially close to the sensor level, further installation effort can be saved. The first camera system 7 and also the second camera system 8th are preferably made of CCD devices including associated lenses and housing. In extremely dynamic light conditions, HDRC cameras can also be used. These camera systems are connected via cables to the processing level, which consists of a computer system comprising at least two microcomputers (in 1 not shown). For operation, data provision and control, the communication level consists of conventional input / output devices (keyboard in conjunction with console switch and control monitor) and transmission devices (wirelessLAN, video encoder, video memory).

Around disorders and to avoid malfunction of the system are automatic switching devices provided to other power sources. In total failure of the power supply the system is buffered for a certain time, the last system state secured and self-acting generates a corresponding message (diagnostic message). The room monitoring system is designed so that in addition to circuit equipment To restart, the software also constantly monitors the room surveillance process system-internal failures, False alarms and faults examines and automatically detects errors Restart with self-calibration of all system components (self-parameterization) performs. The corresponding disorder is reported and its content, such. B. computer identifier, Class of service function and determined checksum, logged. The Time for the automatic restart and self-calibration is so low selected that assumed a continuous room monitoring without loss of detection can be. The whole automatic reorganization of the system takes place with consideration the history. At the same time it is also possible at any time a manual Situation detection and storage from the control center controlled to make.

If the room monitoring system according to the invention has been installed and all system components have been individually checked for their functionality, the room monitoring method is parameterized and adapted manually or automatically to the traffic area to be monitored in the parameterization phase. The traffic area to be monitored, in this case the subway platform to be monitored, the entrance and exit area of the Gleistunnel and / or the railway tracks, is structured in two spatial areas and the type of situations to be recognized is now defined. First, the static background information is entered and matched. If digitized blueprints of the platform to be monitored are available, these can be entered into the system. It makes sense to define individual reference points, reference pictures or reference picture sections which simplify an automatic restart when the room monitoring system is restarted. This makes it possible for the room monitoring system to calibrate itself after every disturbance. Among other things, it is essential for obstacle detection to set and tune the sensor level to the respective prevailing and possibly time-relevant changing lighting conditions. Then the determination of the type and size of possible to be recognized situations with objects and appearances. Both are assigned concrete static and dynamic properties with certain limits. Such properties can z. Example: shape, area, size, speed, acceleration, direction of movement, type of movement, color, brightness, contrast and / or changes. In this case, the entire system is self-learning, ie that once established unusual properties of an object or a phenomenon can be analyzed and logged for later evaluation and used for a later reference formation. Objects are all occurring in the platform area moving things, such. For example, any train, person, animal, baggage, and any other objects, as long as they are moved or moving for any reason. Appearances may be related to events occurring in the traffic area. These include z. B. also certain light and weather conditions. From the temporal and spatial combination of the detected objects and phenomena as well as their respective properties, it is determined whether a concrete situation existing on the platform can be considered as uncritical, critical or potentially critical. For example, a person's stay immediately at the edge of the platform is potentially critical, as long as no train enters the platform. The situation becomes uncritical when the person leaves the edge area again. The situation becomes critical if the person remains in the edge area and a train enters or if the person enters the track area. This definition of the individual situations is before commissioning of the plant taking into account the respective concrete application of the room monitoring system.

Then the start of the monitoring phase, which is composed of a timed detection and reporting process. The detection process for recognizing objects and phenomena consists of several repetitive detection steps with adjustable cycle time together, with the monitored Traffic space on situations of specified types automatically is examined. The cycle time can be event-oriented during monitoring changed become. Usual cycle times are 50 ms to 200 ms. In every single detection step in each case at least one current and one or any number of past ones Processed images or image sections of one or two cameras. The image processing consists of several processing steps, which partially serial or parallel. The image processing can both mono-method and stereo method. At the Mono methods become defined halftone dots over the relevant image area placed and in the framework given by comparison with a temporally changed Reverence image differences determined. By means of these image differences or over Motion paths can over certain level assumptions are an object or appearance identification respectively. This processing is first separated for the images of each camera carried out. This is followed by a comparison of the results of the processing the images of both cameras of a camera system. These are about level assumptions and differences in the detected objects obtained spatial information.

In Special education is superimposed on the results of both procedures and linked. By doing so leaves the detection security increase significantly, and false alarms largely reduced. In particular, the influence of non-spatial Disturbance variables, such as z. B. shadow largely avoided. Also a comparison with others already logged similar Situations can occur. The image analysis of the sensor level to disposal Pictures or sections of an image are made by the Brightness differences, contrast differences, texture differences, Movements, shapes, stereo effects and triangulations of image segments several pictures as well as semantic background knowledge about the traffic area considered become. This is done by means of appropriately implemented algorithms.

Lies a particular situation, this will be in accordance with the in the Parametrierungsphase defined species through the room monitoring method according to the invention with higher Safety as previously known from the prior art, recognized. After this the nature of the current situation is automatically determined forwarded this information to the message process.

Of the Message process consists of several message steps after the Clock or the event principle in which the situations associated Prioritized messages are generated. The generated messages, Pictures or image sequences and additional information are logged and provided at an interface for evaluation. According to the invention dependent on generated by the nature of the situation different individual messages. Result the image processing are the messages: Diagnostic message, platform message, Track message, edge message, intrusion message and train message, the accumulate on an external interface for further processing and their importance according to be processed by z. B. reactions, such as audible warning the persons in the edge area or the influence the driving behavior of the train are triggered. The diagnostic message is used both for intrinsic failures and failures as well as in previously adjustable intervals generated, even if the inventive method no error in the system check Has been established. Also an exam the individual devices on their functioning including the display of the lifetime every single device is possible with it. The platform message indicates situations on the platform, the track report Situations in the track area, the edge message situations in the edge area and the intrusion message situations in the two tunnel entrances. The Train notification takes place at the entrance, exit or stand of the train At the train station. It can also be used as a warning or attention signal for the Passengers are used on the platform. Through the links the individual messages taking into account the time and Velocity model and the geometric model of each to recognize objects and phenomena is the intrinsic automatic situation assessment. Depending on the type of situation Then a prioritized notification of the situation with appropriate automatic and / or manual reaction. For example, the driveway is the train stopped at the platform.

In the room surveillance system according to the invention, the cameras of the sensor plane are connected via corresponding cables, control lines and optical waveguides to the components of the processing level. The processing level consists of two microcomputers, each microcomputer being directly connected to a camera system. Furthermore, a second input of each microcomputer is also connected to the other camera system. Both microcomputers are equipped with a central computer connected. At the communication level, each microcomputer is connected to a monitor, a keyboard and a mouse for operation, input and control via a console switcher. For communication, they also have additional connections such as ISDN card, network switch, Ethernet card and an output to a separate wireless LAN system.

to later Analysis of the room monitoring system according to the invention, the room monitoring procedure and the functioning of the entire system can be both permanent and also an event-driven logging done.

The Self - diagnosis of the functioning of the Procedure and the system is done via certain test routines at different levels. These include checksum formation, query from Hardware parameters, monitoring time limits and plausibility checks as well as testing of normally invariant image parameters.

The Invention is particularly applicable to platforms and / or railway tracks from underground and suburban trains. It is also used to monitor other traffic areas such as z. B. tram areas, bus stations, Zugbahnhöfe, entrance areas of department stores etc. used.

1

Railroad track

2

platform

3

platform edge

4

Tunnel entrance-exit

5

Tunnel entrance driveway

6

equipment rack

7

first camera system

8th

second camera system

9

first detection range

10

second detection range

11

Platform track area

12

Platform edge area

13

Of penetration exit

14

Penetration region driveway

Claims (22)

Room monitoring method for traffic areas, in particular for platforms and / or railway tracks, for the detection of objects by means of evaluation of video signals, are detected and evaluated by processing image sequences of at least two cameras objects in temporal and spatial dimensions and logged the results and provided to an external interface be characterized in that in a parameterization phase, the method manually or automatically to the room monitoring system, the traffic area consisting of one or more traffic areas to be monitored and one or more types of situations to be detected is set, then in a monitoring phase in the cycle principle of the monitored traffic area with the specified traffic areas is automatically examined for situations of specified species and via a classification the nature of the current situations and the assignment to the transport sector be detected. Surveillance methods according to claim 1, characterized that the monitoring phase is from a Detection and a message process, the detection process from several repetitive detection steps with adjustable cycle time consists, in each detection step, the detection of the situations and forwarded to a notification process, wherein the notification process consists of several message steps, in which after a freely selectable Event- and / or timed regimes prioritized messages and optionally in conjunction with images or image sequences and / or additional information logged and at a freely definable provided external interface, where appropriate the type of situations different prioritized single messages to be generated. Surveillance methods according to one of claims 1 to 2, characterized in that at each clock time each at least one current and one or any number of past images one or more cameras are processed and the detection results in the form of messages and / or optionally images or image sequences and / or Additional information logged according to the clock and / or event principle and provided on an external interface. Surveillance methods according to one of claims 1 to 3, characterized in that the traffic space in time and / or spatially parameterizable Areas is structured. Surveillance methods according to one of claims 1 to 4, characterized in that messages by additional information be rated as critical, potentially critical or uncritical. Room monitoring method according to one of claims 1 to 5, characterized in that the image processing takes place both in the mono-method and in the stereo method and the results of each method are superimposed and linked the. Surveillance methods according to one of claims 1 to 6, characterized in that the situation detection means Method, the brightness differences, contrast differences, Texture differences, movements, shapes, stereo effects and triangulations of image segments of multiple images as well as semantic background knowledge about the Use traffic area. Surveillance methods according to one of claims 1 to 7, characterized in that in addition to be monitored Traffic space completely or partially with an artificial one Illumination in the visible and / or invisible area, with light limited wavelength and / or polarized light constantly, Illuminated temporarily or clocked. Surveillance methods according to one of claims 1 to 8, characterized in that in the image processing also the color information of the image data and / or the information the additional artificial Lighting are evaluated. Surveillance methods according to one of claims 1 to 9, characterized in that in case of failure and malfunction an automatic reorganization of the system considering the History is done. Surveillance methods according to one of claims 1 to 10, characterized in that the image processing messages such as diagnostic message, platform message, track message, edge message, Intrusion message and train message generated. Surveillance methods according to one of claims 1 to 11, characterized in that automatically adjustable intervals a self-diagnosis of the functioning of the method takes place. Space surveillance system for traffic areas, in particular for platforms and / or for Railway tracks, with one or more arranged in a sensor plane Camera systems, arranged in a processing level computer system one or more microcomputers and in one communication level arranged input / output devices and transmission devices, thereby characterized in that a camera system consists of at least two cameras consists of a common area of the monitored traffic area view, calibrated and in a spatially limited arrangement above the Traffic space or in the vicinity are positioned that a computer system of at least one microcomputer to carry out all Processing tasks is that input / output devices and transmission devices for data delivery and control are used. Space surveillance system according to claim 13, characterized in that all cameras for alignment with freely adjustable, for However, the detection are equipped with fixable lenses. Space surveillance system according to one of claims 13 to 14, characterized in that all cameras for detection on a single implement carrier in one spatial limited arrangement are firmly attached and for alignment in several Degrees of freedom changed can be, where the cameras of the individual camera systems from this position be aligned to different traffic areas of the traffic area can. Space surveillance system according to one of claims 13 to 15, characterized in that one or more camera systems on each of a single device carrier along an axis are arranged. Space surveillance system according to one of claims 13 to 16, characterized in that an additional artificial lighting of light in the visible and / or invisible area, made of light more limited wavelength and / or polarized light and with the room monitoring system is interconnected. Space surveillance system according to one of claims 13 to 17, characterized in that the system with hardware and software equipment is provided according to precipitate and disorders allow an automatic restart. Space surveillance system according to one of claims 13 to 18, characterized in that the camera systems respectively from at least two interconnected working as stereo cameras Cameras exist, whereby also single and / or several cameras independently in special operating cases can be switched as mono cameras. Room monitoring system according to one of claims 13 to 19, characterized in that the computer system of the system consists of at least two microcomputers, which are equipped and interconnected so that several computers additionally work on different tasks and / or several computers redundantly work on the same tasks, depending on the operation between both modes can be changed. Space surveillance system according to one of claims 13 to 20, characterized in that the cameras of a camera system directly with one input each of an assigned microcomputer connected, which takes over the evaluation, and indirectly with each connected to an input of at least one further microcomputer, so that in special operating cases this microcomputer can take the evaluation. Space surveillance system according to one of claims 13 to 21, characterized in that facilities are present are the faults and Automatically detect malfunctions of the system yourself.