EP0445334A1 - Procédé de détection d'intrus - Google Patents

Procédé de détection d'intrus Download PDF

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Publication number
EP0445334A1
EP0445334A1 EP90104469A EP90104469A EP0445334A1 EP 0445334 A1 EP0445334 A1 EP 0445334A1 EP 90104469 A EP90104469 A EP 90104469A EP 90104469 A EP90104469 A EP 90104469A EP 0445334 A1 EP0445334 A1 EP 0445334A1
Authority
EP
European Patent Office
Prior art keywords
intruder
camera
lens
determined
video
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
EP90104469A
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German (de)
English (en)
Inventor
Albrecht Dr. Zartner
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Siemens AG
Original Assignee
Siemens AG
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Siemens AG filed Critical Siemens AG
Priority to EP90104469A priority Critical patent/EP0445334A1/fr
Publication of EP0445334A1 publication Critical patent/EP0445334A1/fr
Ceased legal-status Critical Current

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Classifications

    • G—PHYSICS
    • G08—SIGNALLING
    • G08B—SIGNALLING OR CALLING SYSTEMS; ORDER TELEGRAPHS; ALARM SYSTEMS
    • G08B13/00—Burglar, theft or intruder alarms
    • G08B13/18—Actuation by interference with heat, light, or radiation of shorter wavelength; Actuation by intruding sources of heat, light, or radiation of shorter wavelength
    • G08B13/189—Actuation by interference with heat, light, or radiation of shorter wavelength; Actuation by intruding sources of heat, light, or radiation of shorter wavelength using passive radiation detection systems
    • G08B13/194—Actuation by interference with heat, light, or radiation of shorter wavelength; Actuation by intruding sources of heat, light, or radiation of shorter wavelength using passive radiation detection systems using image scanning and comparing systems
    • G08B13/196—Actuation by interference with heat, light, or radiation of shorter wavelength; Actuation by intruding sources of heat, light, or radiation of shorter wavelength using passive radiation detection systems using image scanning and comparing systems using television cameras
    • G08B13/19602—Image analysis to detect motion of the intruder, e.g. by frame subtraction
    • G—PHYSICS
    • G08—SIGNALLING
    • G08B—SIGNALLING OR CALLING SYSTEMS; ORDER TELEGRAPHS; ALARM SYSTEMS
    • G08B13/00—Burglar, theft or intruder alarms
    • G08B13/18—Actuation by interference with heat, light, or radiation of shorter wavelength; Actuation by intruding sources of heat, light, or radiation of shorter wavelength
    • G08B13/189—Actuation by interference with heat, light, or radiation of shorter wavelength; Actuation by intruding sources of heat, light, or radiation of shorter wavelength using passive radiation detection systems
    • G08B13/194—Actuation by interference with heat, light, or radiation of shorter wavelength; Actuation by intruding sources of heat, light, or radiation of shorter wavelength using passive radiation detection systems using image scanning and comparing systems
    • G08B13/196—Actuation by interference with heat, light, or radiation of shorter wavelength; Actuation by intruding sources of heat, light, or radiation of shorter wavelength using passive radiation detection systems using image scanning and comparing systems using television cameras
    • G08B13/19639—Details of the system layout
    • G08B13/19652—Systems using zones in a single scene defined for different treatment, e.g. outer zone gives pre-alarm, inner zone gives alarm
    • G—PHYSICS
    • G08—SIGNALLING
    • G08B—SIGNALLING OR CALLING SYSTEMS; ORDER TELEGRAPHS; ALARM SYSTEMS
    • G08B13/00—Burglar, theft or intruder alarms
    • G08B13/18—Actuation by interference with heat, light, or radiation of shorter wavelength; Actuation by intruding sources of heat, light, or radiation of shorter wavelength
    • G08B13/189—Actuation by interference with heat, light, or radiation of shorter wavelength; Actuation by intruding sources of heat, light, or radiation of shorter wavelength using passive radiation detection systems
    • G08B13/194—Actuation by interference with heat, light, or radiation of shorter wavelength; Actuation by intruding sources of heat, light, or radiation of shorter wavelength using passive radiation detection systems using image scanning and comparing systems
    • G08B13/196—Actuation by interference with heat, light, or radiation of shorter wavelength; Actuation by intruding sources of heat, light, or radiation of shorter wavelength using passive radiation detection systems using image scanning and comparing systems using television cameras
    • G08B13/19695—Arrangements wherein non-video detectors start video recording or forwarding but do not generate an alarm themselves

Definitions

  • the invention relates to a method for the detection of intruders with a burglar alarm system for perimeter protection by means of a video camera and a video image processing unit, whereby objects which move within a predetermined monitoring area are recognized by a differential image method of two temporally offset video images.
  • Various types of perimeter protection systems are used today to monitor an open-air site, especially high-security areas (airports, power plants or the like).
  • a high response sensitivity corresponding to a low penetration probability of typically less than 10 ⁇ 2
  • an extremely low false alarm rate of typically one false alarm per day and km is required with regard to a large area to be monitored Due to the large number of environmental influences that are characteristic of an open-air site, the second requirement is difficult to meet.
  • additional television surveillance cameras are therefore installed, although such systems with more than 20 cameras are not uncommon.
  • the intrusion detection system for perimeter protection reports an alarm , the corresponding camera image is switched to a central monitor, where the personnel on duty has to decide whether there is a real or a false alarm.
  • the object of the present invention is therefore to avoid the disadvantages described above and to provide a method for perimeter protection for monitoring a specific area in which the associated intrusion detection system provides a spatial resolution with only one video camera and in which the false alarm rate can be significantly reduced.
  • the false alarm rate is considerably reduced with the method according to the invention.
  • the location coordinates for a detected object can be clearly derived from the camera parameters, so that a distance measurement is sufficient to determine the position of the penetrating object and enables a trace analysis.
  • the penetrating object is set sufficiently sharply with the control device on the lens so that the distance to the object can be determined from the position of the focusing or the ascertainable lens focal length.
  • the true cross-section of the object is calculated using the known or determined camera parameters.
  • the intruder track covered is recorded, so that an alarm criterion can be reliably derived from a subsequent comparison with possible or predetermined intruder cross sections and from the intruder track.
  • the video camera can expediently be mounted on a fixed mounting block, so that in the case of a rigid camera, the position of the object center on the video image can be determined in a simple manner on the basis of the position angle (azimuth and polar angle).
  • the camera can be pivoted both horizontally and vertically, the detected object being sighted and tracked automatically and the position angle of the video camera being continuously detected by the microcomputer via sensors (e.g. resolvers) in the swivel drive.
  • sensors e.g. resolvers
  • the intrusion detection system for room monitoring and evaluation can use a camera either with a lens, e.g. Have a telephoto lens with a fixed focal length or a zoom lens with a motor-adjustable focal length.
  • a lens with a fixed focal length the distance to the detected object is determined from the position for focusing using corresponding stored calibration curves. If the camera has a zoom lens, the detected object is zoomed in and focused, the distance to the detected object being derived from the focal length and the focusing.
  • the advantage of the invention in the method described above is that only one video camera is required for the spatially resolving detection.
  • the probable intruder volume can be derived from an additional intruder model assumption from the camera and lens parameters.
  • the tracking is carried out over a certain period of time, typically 10 to 20 seconds.
  • an alarm is not given immediately after detection of an actual intruder, rather the intruder or its track is tracked for a certain time and only then an alarm is derived.
  • the speed of the intruder can also be determined from the tracking and an alarm can be derived from this.
  • a single camera with a lens with a fixed focal length is used.
  • several rows of sensor fields SFR1, SFR2, each with individual sensor fields SF are defined, in which the gray tone mean value or color tone is measured in comparison to reference fields RF.
  • a pre-alarm is triggered if the gray or color change in a SF sensor field is greater than a predetermined threshold value.
  • pre-alarms of different sensor fields SF or sensor fields or series SFR1,2 are linked via corresponding logic conditions. A final alarm message is given when all pre-alarms meet a trigger condition that is also predefined.
  • FIG. 2 shows a monitoring area for the method according to the invention, which is enclosed by a protective fence SZ.
  • a single video camera VK is provided for monitoring and is arranged in a specific position (Xo, Yo, ZO).
  • Intruders are clearly defined by a coordinate transformation with the azimuth angle ⁇ , the polar angle ⁇ , the camera coordinates (Xo, Yo, Zo) and the object distance R.
  • the azimuth and polar angles result directly from the position of the object center on the video image.
  • the object O is automatically sighted by the system, the azimuth and polar angle ( ⁇ , ⁇ ) being able to be determined by sensors in the swivel drive SW.
  • a distance measurement for the distance R from the camera VK to the object O can be carried out, so that the position (x, y, z) of the object O can be determined therefrom.
  • the lens (OV) of the camera (VK) is focused by means of a control device (RV), so that the distance R from the position of the focusing device (S) can be determined with sufficient accuracy using a calibration curve.
  • the Lens parameters of the video camera VK namely focal length f, sharpness S of the focus adjustment device, lens aperture B and a front filter F can be controlled by a control device RV, just as the set values of the lens parameters can be detected by the control device RV.
  • a microcomputer ⁇ C is connected to the control device RV as well as to the video image processing unit VVE and to the camera swivel drive (SW). If the video camera VK is set to a medium distance e (FIG. 2), it is expedient to keep the lens hood B closed to a minimum value in order to achieve a maximum depth of field.
  • the prefilter F and / or the video amplifier VER is controlled by the microcomputer uC via the control device RV so that the image processing unit VVE is optimally controlled.
  • an alarm is reported for a specific sector. If, for example, the sectors are precisely defined, the camera according to the invention can be aimed at this sector. The search direction for the camera angles can be found in a look-up table and the camera can be aligned accordingly. Then a video image is recorded and this captured video image (master image) is saved.
  • the method according to the invention with only a single camera has the advantage of a significantly higher sensitivity with the same, maximum monitorable sector length or the same sensitivity compared to conventional systems with a higher, maximum monitorable sector length. Since a clear distance information is obtained with this described method, the error alarm rate is significantly reduced. So there are interference effects that are close to the camera, for example by rain, snow, insects, cobwebs or the like. can occur completely eliminated.
  • the method described makes it possible to determine the intruder center of gravity coordinates from the center of gravity of the intruder outline cross section and from the determined distance. Furthermore, it is possible to determine the intruder speed both in terms of the amount and in the direction from the center of gravity coordinates and from the edge shift of the intruder outline of two temporally offset video images. In this way it is possible to create an intruder track for the intruder center of gravity coordinates as a function of time and for the intruder speed according to amount and direction as a function of time in order to derive an alarm from this data stored in the memory.
  • the intruder cross section can expediently be measured automatically by the video image processing unit with the support of the microcomputer.
  • the intruder volume can be estimated with a high degree of reliability by using a model that can be refined step by step by following the intruder track.
  • the camera monitors a given room for gray value changes. If the integral gray value change in a partial section exceeds a predetermined limit value, the edge structures are determined. Only when the edge structures result in a figure with a cross section that is greater than a second predetermined limit value, the zoom process is triggered and the suspicious object is brought into focus. Now the lens system has a shallow depth of field, but the object is optimally enlarged. The object distance and the object outline can now be measured precisely with the microcomputer and the video image processing unit.
  • the intrusion detection system is reset to its initial state. If the determined object cross-section is larger than the predetermined third limit value, then a critical cross-section is recognized and this is evaluated as a pre-alarm.
  • the center of gravity coordinates and the intruder track as well as the object cross section are determined. From this, the intruder volume is then estimated according to assumed models, i.e. approximately calculated and the intruder track created. A real alarm is only derived from the estimated intruder volume and the intruder track.
  • This intelligent optical perimeter protection system spatially resolving detection of critical intruder volumes is possible with a single video camera.
  • This system property which is considerably cheaper than systems with several video cameras each, is achieved by using a computer-controlled lens. If this lens also has a variable focal length (zoom), the maximum monitored area can be increased considerably compared to conventional video sensors that only have a constant focal length.
  • the zoom function of the video sensor described here can increase the system sensitivity compared to known systems.
  • An estimate of the probable intruder volume is made possible by the use of a model that can be gradually refined using the intruder trace analysis.
  • the information about the object location and object volume and the analysis of the intruder track carried out by the system therefore leads to a significantly lower false alarm rate than in conventional intrusion detection systems with the known video motion sensors.

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  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Engineering & Computer Science (AREA)
  • Multimedia (AREA)
  • Computer Vision & Pattern Recognition (AREA)
  • Burglar Alarm Systems (AREA)
  • Closed-Circuit Television Systems (AREA)
EP90104469A 1990-03-08 1990-03-08 Procédé de détection d'intrus Ceased EP0445334A1 (fr)

Priority Applications (1)

Application Number Priority Date Filing Date Title
EP90104469A EP0445334A1 (fr) 1990-03-08 1990-03-08 Procédé de détection d'intrus

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
EP90104469A EP0445334A1 (fr) 1990-03-08 1990-03-08 Procédé de détection d'intrus

Publications (1)

Publication Number Publication Date
EP0445334A1 true EP0445334A1 (fr) 1991-09-11

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EP90104469A Ceased EP0445334A1 (fr) 1990-03-08 1990-03-08 Procédé de détection d'intrus

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Cited By (18)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE4407528A1 (de) * 1994-03-07 1995-09-21 Sq Services Ag System und Verfahren zur Bildauswertung
DE19600958A1 (de) * 1995-07-20 1997-01-23 Fraunhofer Ges Forschung Interaktives Überwachungssystem
WO1997004428A1 (fr) * 1995-07-20 1997-02-06 Fraunhofer-Gesellschaft zur Förderung der angewandten Forschung e.V. Systeme de surveillance interactif
WO1997020293A1 (fr) * 1995-11-30 1997-06-05 David Antony Crellin Procede et dispositif servant a generer un enregistrement visuel
DE19700811A1 (de) * 1997-01-13 1998-07-16 Heinrich Landert Verfahren und Vorrichtung zur Ansteuerung von Türanlage in Abhängigkeit von der Anwesenheit von Personen
FR2760877A1 (fr) * 1997-03-14 1998-09-18 Sick Ag Installation de surveillance
WO1999014723A1 (fr) * 1997-09-18 1999-03-25 Honeywell Ag Procede pour garer en position exacte des avions
DE19812899C2 (de) * 1997-12-18 2001-03-15 Klaus Schultze Vorrichtung und Verfahren zur Objektbildnachführung
WO2001049033A1 (fr) * 1999-12-23 2001-07-05 Wespot Ab Traitement de donnees images
DE19701186C2 (de) * 1996-01-12 2001-10-18 Fraunhofer Ges Forschung Interaktives Überwachungssystem
WO2003025877A1 (fr) * 2001-09-20 2003-03-27 Smart Surveillance Technologies Limited Systeme et procede de surveillance
US6774905B2 (en) 1999-12-23 2004-08-10 Wespot Ab Image data processing
US6819353B2 (en) 1999-12-23 2004-11-16 Wespot Ab Multiple backgrounds
US7479980B2 (en) 1999-12-23 2009-01-20 Wespot Technologies Ab Monitoring system
WO2011039351A1 (fr) * 2009-10-02 2011-04-07 Fraunhofer-Gesellschaft zur Förderung der angewandten Forschung e.V. Procédé et dispositif de reconnaissance d'une détection erronée d'un objet dans une image
EP2438849A1 (fr) * 2010-10-06 2012-04-11 Latvijas Universitate Dispositif et procédé de surveillance optique sans contact des paramètres cardiaques
TWI469096B (zh) * 2012-04-27 2015-01-11 Hon Hai Prec Ind Co Ltd 上空墜物預警系統及方法
CN115512281A (zh) * 2022-11-21 2022-12-23 北京数字绿土科技股份有限公司 一种结合视频相机和激光雷达的入侵物监测方法和系统

Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4081830A (en) * 1974-09-30 1978-03-28 Video Tek, Inc. Universal motion and intrusion detection system
DE3634628A1 (de) * 1985-10-11 1987-04-23 Matsushita Electric Works Ltd Ueberwachungsanordnung zum melden abnormer ereignisse
US4740839A (en) * 1987-06-12 1988-04-26 Phillips William R TV surveillance system that requires no mechanical motion
US4805018A (en) * 1986-03-07 1989-02-14 Matsushita Electric Industrial Co., Ltd. Video signal processing apparatus for separating an image of a moving object from video signals
FR2624599A1 (fr) * 1987-12-11 1989-06-16 Toshiba Kk Procede et appareil de surveillance d'un objet mobile

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4081830A (en) * 1974-09-30 1978-03-28 Video Tek, Inc. Universal motion and intrusion detection system
DE3634628A1 (de) * 1985-10-11 1987-04-23 Matsushita Electric Works Ltd Ueberwachungsanordnung zum melden abnormer ereignisse
US4805018A (en) * 1986-03-07 1989-02-14 Matsushita Electric Industrial Co., Ltd. Video signal processing apparatus for separating an image of a moving object from video signals
US4740839A (en) * 1987-06-12 1988-04-26 Phillips William R TV surveillance system that requires no mechanical motion
FR2624599A1 (fr) * 1987-12-11 1989-06-16 Toshiba Kk Procede et appareil de surveillance d'un objet mobile

Cited By (23)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE4430016A1 (de) * 1994-03-07 1996-02-29 Sq Services Ag System und Verfahren zur Bildauswertung
DE4407528C2 (de) * 1994-03-07 1998-04-09 Sq Services Ag Bewegungsmelder und Verfahren zur Bewegungsmeldung
DE4430016C2 (de) * 1994-03-07 1998-05-28 Sq Services Ag Bewegungsmelder und ein Verfahren zur Bewegungsmeldung
DE4407528A1 (de) * 1994-03-07 1995-09-21 Sq Services Ag System und Verfahren zur Bildauswertung
DE19600958A1 (de) * 1995-07-20 1997-01-23 Fraunhofer Ges Forschung Interaktives Überwachungssystem
WO1997004428A1 (fr) * 1995-07-20 1997-02-06 Fraunhofer-Gesellschaft zur Förderung der angewandten Forschung e.V. Systeme de surveillance interactif
WO1997020293A1 (fr) * 1995-11-30 1997-06-05 David Antony Crellin Procede et dispositif servant a generer un enregistrement visuel
DE19701186C2 (de) * 1996-01-12 2001-10-18 Fraunhofer Ges Forschung Interaktives Überwachungssystem
DE19700811A1 (de) * 1997-01-13 1998-07-16 Heinrich Landert Verfahren und Vorrichtung zur Ansteuerung von Türanlage in Abhängigkeit von der Anwesenheit von Personen
US6496220B2 (en) 1997-01-13 2002-12-17 Heinrich Landert Method and arrangement for driving door installations as a function of the presence of persons
FR2760877A1 (fr) * 1997-03-14 1998-09-18 Sick Ag Installation de surveillance
WO1999014723A1 (fr) * 1997-09-18 1999-03-25 Honeywell Ag Procede pour garer en position exacte des avions
DE19812899C2 (de) * 1997-12-18 2001-03-15 Klaus Schultze Vorrichtung und Verfahren zur Objektbildnachführung
WO2001049033A1 (fr) * 1999-12-23 2001-07-05 Wespot Ab Traitement de donnees images
US6774905B2 (en) 1999-12-23 2004-08-10 Wespot Ab Image data processing
US6819353B2 (en) 1999-12-23 2004-11-16 Wespot Ab Multiple backgrounds
US7479980B2 (en) 1999-12-23 2009-01-20 Wespot Technologies Ab Monitoring system
WO2003025877A1 (fr) * 2001-09-20 2003-03-27 Smart Surveillance Technologies Limited Systeme et procede de surveillance
WO2011039351A1 (fr) * 2009-10-02 2011-04-07 Fraunhofer-Gesellschaft zur Förderung der angewandten Forschung e.V. Procédé et dispositif de reconnaissance d'une détection erronée d'un objet dans une image
EP2438849A1 (fr) * 2010-10-06 2012-04-11 Latvijas Universitate Dispositif et procédé de surveillance optique sans contact des paramètres cardiaques
TWI469096B (zh) * 2012-04-27 2015-01-11 Hon Hai Prec Ind Co Ltd 上空墜物預警系統及方法
US9047748B2 (en) 2012-04-27 2015-06-02 Zhongshan Innocloud Intellectual Property Services Co., Ltd. Safety guard device and method for detecting falling object
CN115512281A (zh) * 2022-11-21 2022-12-23 北京数字绿土科技股份有限公司 一种结合视频相机和激光雷达的入侵物监测方法和系统

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