EP2324461A1 - Système de surveillance, procédé et programme informatique pour détecter et/ou suivre un objet à surveiller - Google Patents

Système de surveillance, procédé et programme informatique pour détecter et/ou suivre un objet à surveiller

Info

Publication number
EP2324461A1
EP2324461A1 EP09781914A EP09781914A EP2324461A1 EP 2324461 A1 EP2324461 A1 EP 2324461A1 EP 09781914 A EP09781914 A EP 09781914A EP 09781914 A EP09781914 A EP 09781914A EP 2324461 A1 EP2324461 A1 EP 2324461A1
Authority
EP
European Patent Office
Prior art keywords
signature
monitoring
sensors
surveillance
information
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.)
Granted
Application number
EP09781914A
Other languages
German (de)
English (en)
Other versions
EP2324461B1 (fr
Inventor
Axel Baumann
Hartmut Loos
Jan Karl Warzelhan
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.)
Robert Bosch GmbH
Original Assignee
Robert Bosch GmbH
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 Robert Bosch GmbH filed Critical Robert Bosch GmbH
Publication of EP2324461A1 publication Critical patent/EP2324461A1/fr
Application granted granted Critical
Publication of EP2324461B1 publication Critical patent/EP2324461B1/fr
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

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
    • G08B13/19608—Tracking movement of a target, e.g. by detecting an object predefined as a target, using target direction and or velocity to predict its new position
    • G—PHYSICS
    • G07—CHECKING-DEVICES
    • G07C—TIME OR ATTENDANCE REGISTERS; REGISTERING OR INDICATING THE WORKING OF MACHINES; GENERATING RANDOM NUMBERS; VOTING OR LOTTERY APPARATUS; ARRANGEMENTS, SYSTEMS OR APPARATUS FOR CHECKING NOT PROVIDED FOR ELSEWHERE
    • G07C9/00—Individual registration on entry or exit
    • G07C9/30—Individual registration on entry or exit not involving the use of a pass
    • G07C9/38—Individual registration on entry or exit not involving the use of a pass with central registration

Definitions

  • the invention relates to a monitoring system for detecting and / or tracking at least one moving monitoring object in a surveillance area with a plurality of surveillance sensors, which are spatially distributed and / or distributable in the surveillance area and which are designed to detect the surveillance object and to output captured object information , with an evaluation device, which is designed to detect and / or track the monitored object by comparing acquired object information with an object signature of the monitored object, and with a signature lock with at least two signature sensors, which are designed to detect the surveillance object and to output object signature information and / or are arranged.
  • the invention further relates to a method for detecting and / or tracking a surveillance object and a computer program.
  • monitoring areas are recorded by surveillance cameras and the image data streams of the surveillance cameras are usually combined in a monitoring center.
  • the evaluation of the image data streams can be done by monitoring personnel, but often resorted to image processing algorithms to allow an automated evaluation of the image data streams.
  • a common procedure in automated evaluation via image processing algorithms is to separate moving monitoring objects from (essentially static) scene background of the surveillance area, to track over time and, for example, to trigger alarms for relevant movements.
  • Monitoring systems are also known which use other sensor systems instead of
  • the tracking of surveillance objects is particularly difficult if the surveillance area is very extensive and the surveillance cameras or other sensors only cover partial areas of the surveillance area.
  • the document DE 10 138 763 A1 relates to another technical field, namely the access authorization for persons to a security area.
  • the invention relates to a monitoring system having the features of claim 1, a method for detecting and / or tracking a surveillance object with the features of claim 11 and a computer program having the features of claim 12.
  • a monitoring system which is suitable and / or designed for detecting and / or tracking at least one moving monitoring object in a monitoring area.
  • the moving monitoring object is preferably designed as a person, in modified
  • the moving monitoring object may also be designed as a vehicle, an object moving on its own power and / or as an object moved by external power.
  • the surveillance area may comprise individual open-air areas and / or areas in, on and / or under a building, in particular buildings.
  • the individual areas may be formed integrally or, in alternative embodiments, may also be arranged separately from one another. In a building, for example, it is possible to monitor several floors of the building as a surveillance area.
  • the monitoring system has a plurality of monitoring sensors, which are spatially distributed and / or distributable in the monitoring area.
  • the monitoring sensors may overlap with the detection areas or at least partially arranged without overlapping.
  • the monitoring system comprises a signature lock, which in the most general case can be designed as an unlimited lock area.
  • the lock area is limited by design measures or designed as a lock room or lock device.
  • at least one signature sensor is arranged, which is designed to detect the surveillance object and to output object signature information.
  • the signature sensor can be designed analogously to one of the monitoring sensors.
  • the sensors, ie the monitoring and / or signature sensors, are for
  • Register formed by different object properties of the monitored object which are suitable for monitoring, detection and / or tracking of the monitored object and / or used and can be output as object information or object signature information.
  • An evaluation device which forms part of the monitoring system, is designed to detect and / or track, in particular identify, the monitored object by comparing object information from at least one monitoring sensor with an object signature of the monitored object.
  • the object signature is preferably formed as a collection of object signature information that has been selectively and / or individually created for a single monitoring object.
  • the signature lock comprises at least two, preferably at least three, and in particular at least four or more signature sensors, wherein the signature lock is designed such that the object signature information of at least - A -
  • two signature sensors can be clearly and / or unmistakably assigned to the monitoring object.
  • An advantage of the monitoring system is that the formation of the object signature by the signature signature information from the signature lock ensures that all object signature information that contributes to the formation of the object signature actually originates from a single monitor object. Comparing the inventive concept, for example, with a concept of a continuous structure of the object signature, with uncorrelated monitoring sensors participate in the formation of the object signature, there is always the danger that a
  • a further advantage of the invention is the fact that after passing through the signature lock for the monitoring object or for each subsequent monitoring object, a complete or at least comprehensive individual object signature is formed, which on the basis of the acquisitions preferably all
  • Signature sensors in the signature lock was generated. Namely, it is preferably provided that the object signature is completely formed in the signature lock, ie that the signature lock has all those signature sensors which can provide the necessary object signature information for the formation of the object signature.
  • At least two signature sensors are designed and / or arranged for spatially overlapping and / or chronologically overlapping detection of the monitored object and / or for temporally and / or spatially correlated detection of the monitored object.
  • the monitoring object is detected simultaneously or simultaneously from all sides with a corresponding selection of signature sensors.
  • several similar signature sensors can be used.
  • at least two surveillance cameras are provided for the simultaneous or simultaneous detection of different views of the surveillance object. For example a front and a rear view or a side view and a side view of the opposite side of the monitoring object is recorded.
  • the signature sensors for receiving the object signature are positioned so that they do not interfere with each other.
  • the signature lock has a separating device for separating the monitored object, wherein the at least two signature sensors are arranged in a separating region in order to detect the separated monitoring object there.
  • the temporal and / or spatial correlation is achieved by ensuring that only a single monitoring object can be present in a specific area of the signature lock, so that all sensor-specific detections in the singulation area must necessarily belong to the isolated monitoring object ,
  • the signature lock is arranged at an entrance of the monitoring area.
  • the monitoring object is completely detected as an object signature upon entering or entering the surveillance area, so that a detection and / or tracking of the surveillance object in the surveillance area based on the object signature is possible everywhere.
  • a plurality of signature locks are arranged at a plurality of inputs of the surveillance area.
  • the signature lock is formed with an automated activation for detecting the monitored object.
  • the signature lock is formed with an automated activation for detecting the monitored object.
  • no user intervention by, for example, monitoring personnel or the monitoring object itself is necessary to start the formation of the object signature.
  • the formation of the object signature is started as soon as the monitoring object is at a certain position.
  • the signature lock for manual activation is formed, for example, by the surveillance object or by monitoring personnel. It can be provided, for example, that the monitoring object must perform a specific action in order to start the formation of the object signature. This embodiment may be useful if, for example For reasons of data protection, first an approval of the monitoring object for generating the object signature is obtained.
  • means may be provided which open access to the surveillance area only when the object signature is formed.
  • the signature sensors and / or the monitoring sensors comprise one or more of the following types of sensors:
  • - Surveillance cameras preferably stationary or moving (eg pan-tilt-zoom cameras) surveillance cameras with different observation wavelengths (UV, VIS, NIR, IR), in particular for all-around the view of the monitored object and / or to measure the real size or the dimensions of the surveillance object;
  • observation wavelengths UV, VIS, NIR, IR
  • - Acoustic sensors e.g. Microphones for recording typical noises, e.g. Breathing, heartbeat, engine noise etc ..
  • sensors can use biometric data, such as
  • the object information or object signature information may include features regarding color, texture, digital image processing features, size, weight, radiation property, temperature, etc.
  • the entirety of the signature sensors covers all or at least the majority of the types of monitoring sensors.
  • the monitoring sensors and / or the signature sensors are arranged and / or interconnected in a sensor network, for example in the form of an LSN bus (LSN: Local Security Network).
  • LSN Local Security Network
  • Sensor network extends within the monitored area formed for example in the form of buildings and / or as open terrain.
  • Another object of the invention relates to a method for detecting and / or tracking a surveillance object in a surveillance area with the
  • an object signature of the monitoring object based on object signature information is first of all automatically formed by a plurality of signature sensors, wherein means are provided so that the object signature information can be clearly and / or unmistakably assigned to the monitoring object.
  • a further subject relates to a computer program having the features of claim 12.
  • Figure 1 is a schematic block diagram of a monitoring system as a first embodiment of the invention.
  • FIG. 1 shows a schematic block diagram of a monitoring system 1 as an exemplary embodiment of the invention.
  • the monitoring system 1 is designed to detect and / or track surveillance objects 4 in the form of passers-by in a surveillance area 2, which is delimited schematically by lines 3.
  • Monitoring sensors 6 are arranged, which monitor various subregions 7 in the surveillance area 2 and in the building 5, respectively.
  • the partial regions 7 are distributed so that they are at least sometimes arranged without overlapping side by side.
  • detection or tracking of the monitoring objects 4 it is now difficult to recognize the monitoring object 4 during a transition from one subarea 7 to the next subarea 7, in order to enable a tracking of the surveillance object 4 over the entire surveillance area 2. Rather, it represents a possible source of error that the monitoring object 4 leaves the one subarea 7 and is included in a next subarea 7 as a new monitoring object 4 in the pursuit. A robust tracking of the monitored object 4 in the monitoring area 2 is made more difficult by this error source.
  • the surveillance area 2 in this example has four signature locks 8a, b, c and d, which are arranged in the entrance area of the surveillance area 2. So that a monitoring object 4 can enter the monitoring area 2, it must be one of the signature locks 8a, b, c or d traverse. Of course, it is possible for the monitoring area 2 to have more or fewer signature locks 8a, b, c, d.
  • Each of the signature locks 8a, b, c, d, in this example, has four signature sensors 9, which are arranged and / or designed in such a way that they can be separated from the
  • Monitoring object 4 when crossing the signature locks 8a, b, c, or d sensor-specific measurement signals are recorded as a basis for object signature information, which are summarized below in an evaluation device 10 to an object signature.
  • the signature sensors 9 are arranged in the signature locks 8a, b, c, d in such a way that a detection of the surveillance object 4, which is in particular spatially and / or temporally correlated, takes place. This correlation ensures that the sensor-specific measurement signals are reliably recorded by one and the same monitoring object 4.
  • the resulting from the sensor-specific measurement signals of the signature sensors 9 object signature is thus characterized by the fact that this certainly based on only one
  • the selection of the signature sensors 9 is such that for each type of monitoring sensor 6 or at least for the majority of all types of monitoring sensors 6, a signature sensor 9 is equipped in the same genus or with a sensor-specific measurement signal compatible thereto.
  • the different sensory functions are visualized by triangles, quadrilaterals, pentagons and hexagons.
  • One idea of the monitoring system 1 is that for each monitoring sensor 6 in the
  • Signature lock 8a, b, c, d sensor-specific measurement signals are recorded as a basis for object signature information and stored as an object signature.
  • This approach has the advantage that in the monitoring area 2 only individual monitoring sensors 6 must be arranged, which show, for example, in terms of the current environment, the best detection performance and / or environmental compatibility. Also, the selection of the monitoring sensors 6 may be based on economic considerations. Due to the completeness of the object signature, it is sufficient to place a monitoring sensor 6 per subregion 7 in order to reliably identify or recognize the corresponding surveillance object 4 with its sensor-specific measurement signals on the basis of the stored object signature and thereby enable detection or tracking. Thus, a robust recognition of monitoring objects 4 within the surveillance area 2 is achieved, whereby a complete and comprehensive collection of information about the surveillance object 4 to be tracked is created once in the access area of the surveillance area 2. As monitoring sensors 6 and
  • Signature sensors 9 can be used with a wide variety of sensors, including very different ones, such as surveillance cameras, which allow all-round viewing of the surveillance object 4 and allow, for example, the measurement of the real size and dimensions or the volume of the surveillance object 4.
  • surveillance cameras which allow all-round viewing of the surveillance object 4 and allow, for example, the measurement of the real size and dimensions or the volume of the surveillance object 4.
  • Surveillance cameras can also infrared cameras, are used with a wavelength above 1000 nm, which can register, for example, the temperature and / or the temperature distribution of the monitored object 4. Also odor sensors are possible, which can absorb a specific smell of the monitored object 4. A scale for receiving the weight of the monitored object 4 is also conceivable. Another possibility is the use of an acoustic sensor, for example a microphone, which registers typical noises, such as respiration, heartbeat, but also engine noise or step noise. Other sensors for recording electromagnetic radiation, such as Terrahertzstrahl Institute, are within the possibilities.
  • a radiation measurement for example for the detection of computers, mobile phones, RFID and the like, in order to create an object signature or to recognize the monitoring object 4 again.
  • the information content of the radiation e.g. a cell phone identifier or RFID identification information may be used as the object signature information.
  • the signature sensors 9 for receiving the sensor-specific measurement signals for forming the object signature are arranged in the signature locks 8a, b, c, d so that they do not interfere with one another.
  • the signature sensors 9 are arranged so that the monitoring object 4 are detected at the same time from all sides can. It is also possible to use a plurality of similar signature sensors 9 at the same time, for example surveillance cameras for the simultaneous detection of several or all views of the surveillance object 4.
  • the signature sensors 9 are arranged in a row one after the other, wherein the detection ranges of the signature sensors can be arranged overlapping or non-overlapping.
  • the signature lock 8b has a separating device 11, which allows only a single monitoring object 4 to enter the signature lock 8b.
  • the signature lock 8d is analogous to the signature lock 8 a or b constructed, but in contrast to these, the detection of the monitoring object 4 is not automated, but is activated by operation of a device 12 by the monitoring object.
  • the device 12 may, for example, as a
  • Computer terminal be formed and optionally be connected to a locking device 13, which releases access to the building 5 only when the object signature was formed.
  • the monitoring sensors 6 in the monitoring area 2 can be connected to each other and to the evaluation device 10 via a safety network LSN 14, for example.
  • sensor-specific measuring signals for registering object properties of the monitoring object 4 are recorded in one of the signature locks 8a, b, c, d by the signature sensors 9 and as object signature information via a network 15, which may also form part of the safety network 14, forwarded to the evaluation device 10.
  • the object signature information is summarized in object signatures 16, for example in the form of data records, wherein each data record is assigned to a monitoring object 4 in an individualized manner.
  • the records are supplemented by further information from another database.
  • the measurement signals of the signature sensors 9 on the evaluation device 10 is transmitted and converted there only in object signature information.
  • the monitoring object 4 enters the monitoring area 2, it is registered by any of the monitoring sensors 6 in a further step.
  • the sensor-specific measurement signals of the monitoring sensor 6 are forwarded via the safety network 14 to the evaluation device 10 and compared in the original or post-processed form as object information in a comparison module 17 with the object signature 16 created on the basis of the sensor-specific measurement signals of the signature sensors 9. At a match or sufficient
  • the procedure is arranged with that in the next partial area 7
  • Monitoring sensor 6 repeated.
  • the entirety of the positions or further sensor data of a monitoring object 4 assigned via the object signature 16 is collected and can then be evaluated in order to detect, identify or track the monitoring object 4 in the monitoring area 2.

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  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Engineering & Computer Science (AREA)
  • Computer Vision & Pattern Recognition (AREA)
  • Alarm Systems (AREA)
  • Burglar Alarm Systems (AREA)

Abstract

L'invention concerne un système de surveillance (1) pour la détection et/ou le suivi d'au moins un objet à surveiller (4) en mouvement dans une zone de surveillance (2). Le système de surveillance selon l'invention comprend une pluralité de capteurs de surveillance (6) qui sont et/ou peuvent être répartis spatialement dans la zone de surveillance (2) et qui servent à détecter l'objet à surveiller (4) et à émettre les informations d'objet acquises, un sas de signature (8a, b, c, d) muni d'au moins un capteur de signature (9) qui est conçu et/ou placé pour détecter l'objet à surveiller (4) et pour émettre des informations de signature d'objet, ainsi qu'un dispositif d'évaluation (10) qui sert à établir et/ou à compléter une signature (16) de l'objet à surveiller (4) sur la base des informations de signature d'objet et/ou à détecter et/ou à suivre l'objet à surveiller (4) par comparaison des informations d'objet acquises avec la signature (16) de l'objet à surveiller (4). Selon l'invention, le sas de signature (8a, b, c, d) comprend au moins deux capteurs de signature (9) et est conçu de sorte que les informations de signature d'objet des au moins deux capteurs de signature (9) sont et/ou peuvent être associées de manière univoque et/ou indubitable à l'objet à surveiller.
EP09781914.8A 2008-09-10 2009-08-17 Système de surveillance, procédé et programme informatique pour détecter et/ou suivre un objet à surveiller Active EP2324461B1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102008041933A DE102008041933A1 (de) 2008-09-10 2008-09-10 Überwachungssystem, Verfahren zur Detektion und/oder Verfolgung eines Überwachungsobjektes und Computerprogrammen
PCT/EP2009/060625 WO2010028933A1 (fr) 2008-09-10 2009-08-17 Système de surveillance, procédé et programme informatique pour détecter et/ou suivre un objet à surveiller

Publications (2)

Publication Number Publication Date
EP2324461A1 true EP2324461A1 (fr) 2011-05-25
EP2324461B1 EP2324461B1 (fr) 2018-07-25

Family

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EP09781914.8A Active EP2324461B1 (fr) 2008-09-10 2009-08-17 Système de surveillance, procédé et programme informatique pour détecter et/ou suivre un objet à surveiller

Country Status (5)

Country Link
US (1) US8558696B2 (fr)
EP (1) EP2324461B1 (fr)
CN (1) CN102150183B (fr)
DE (1) DE102008041933A1 (fr)
WO (1) WO2010028933A1 (fr)

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Also Published As

Publication number Publication date
DE102008041933A1 (de) 2010-03-11
EP2324461B1 (fr) 2018-07-25
US20110175738A1 (en) 2011-07-21
CN102150183B (zh) 2016-06-01
US8558696B2 (en) 2013-10-15
CN102150183A (zh) 2011-08-10
WO2010028933A1 (fr) 2010-03-18

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