EP2324461B1 - 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 Download PDF

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Publication number
EP2324461B1
EP2324461B1 EP09781914.8A EP09781914A EP2324461B1 EP 2324461 B1 EP2324461 B1 EP 2324461B1 EP 09781914 A EP09781914 A EP 09781914A EP 2324461 B1 EP2324461 B1 EP 2324461B1
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European Patent Office
Prior art keywords
signature
monitoring
sensors
designed
information
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EP09781914.8A
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German (de)
English (en)
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EP2324461A1 (fr
Inventor
Axel Baumann
Hartmut Loos
Jan Karl Warzelhan
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Robert Bosch GmbH
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Robert Bosch GmbH
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    • 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.
  • 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 publication DE 10 138 763 A1 concerns another technical field, namely the right of access 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 9 and a computer program having the features of claim 10.
  • a monitoring system having the features of claim 1
  • a method for detecting and / or tracking a surveillance object with the features of claim 9 and a computer program having the features of claim 10.
  • a monitoring system is proposed, which is suitable and / or designed for detecting and / or tracking at least one moving monitoring object in a monitoring area.
  • the moved monitoring object is preferably designed as a person; in modified embodiments, the moved monitoring object can also be designed as a vehicle, an object moving on its own power and / or as an object moved by external force.
  • the monitoring system simultaneously detects or tracks more than one monitoring object.
  • 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. In other embodiments, 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 that is to say the monitoring and / or signature sensors, are designed to register various object properties of the monitoring object which are suitable and / or usable for monitoring, detection and / or tracking of the surveillance object and which 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 two signature sensors are assigned to the monitoring object clearly and / or unmistakably.
  • 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. If one compares the inventive concept, for example, with a concept of a continuous construction of the object signature, wherein uncorrelated monitoring sensors participate in the formation of the object signature, there is always the risk that a confusion of the monitoring objects takes place and incorrect signature data is entered in the object signature. Fully or nearly complete capture of object signature data from a monitoring object at a particular point in time at a particular location or area enables creation of a robust object signature for the monitoring object.
  • Another 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 was generated based on the captures preferably all signature sensors in the signature lock. 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 only open access to the monitoring area when the object signature has been formed.
  • 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 the genera of the monitoring sensors.
  • the idea has been implemented to first provide all signature sensors for a complete object signature for all types or types of monitoring sensors for mounting those monitoring sensors at other locations in the surveillance area that provide the best detection rate for the particular environment.
  • 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
  • the 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 features of claim 9.
  • the method in the surveillance system according to a preceding claims or as previously described, implemented.
  • 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 10.
  • FIG. 1 shows a schematic block diagram of a monitoring system 1 as an 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.
  • a plurality of monitoring sensors 6 are arranged in a building 5, which monitor different partial areas 7 in the surveillance area 2 or in the building 5.
  • the subregions 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 has in this example four signature sensors 9, which are arranged and / or configured such that from the monitoring object 4 when crossing the signature locks 8a, b, c, or d sensor-specific measurement signals as the basis for Object signature information is recorded, 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 thus characterized by the fact that it is formed with certainty on the basis of only one monitoring object 4.
  • 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 in the same genus or with a compatible sensor-specific measurement signal is provided.
  • FIG. 1 is the different Sensorgattungen by triangles, squares, pentagons and hexagons visualized.
  • monitoring system 1 For each signature sensor 9 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.
  • monitoring sensors 6 and signature sensors 9 a wide variety of sensors, including very different ones, may be used, 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.
  • infrared cameras can be used with a wavelength above 1000 nm, which can register, for example, the temperature and / or the temperature distribution of the monitored object 4.
  • 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 Terrahertzstrahlonne, 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 be formed, for example, as a computer terminal and optionally be connected to a locking device 13, which releases access to the building 5 only when the object signature has been 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. If there is a match or sufficient similarity, the monitoring object 4 is assigned the identity of the monitoring object 4 belonging to the data record 16.
  • the procedure is repeated with the monitoring sensor 6 arranged in the next partial region 7.
  • 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)

Claims (10)

  1. Système de surveillance (1) pour la détection et/ou le suivi d'au moins un objet à surveiller (4) dans une zone de surveillance (2) comportant plusieurs sous-zones qui sont disposées au moins partiellement sans chevauchement, comprenant
    une pluralité de capteurs de surveillance (6) qui sont et/ou peuvent être répartis spatialement dans la zone de surveillance (2) et qui sont conçus pour détecter l'objet à surveiller (4) et pour délivrer des informations d'objet détectées, dans lequel les capteurs de surveillance (6) comprennent plusieurs types de capteurs parmi des caméras de surveillance, des capteurs d'odeur, des capteurs de température, des balances, des capteurs acoustiques, des capteurs pour la détection de rayonnement électromagnétique et/ou des capteurs pour la détection de données biométriques,
    un sas de signature (8a, b, c, d) muni d'au moins deux capteurs de signature (9) qui sont conçus et/ou disposés de manière à détecter l'objet à surveiller (4) et à délivrer des informations de signature d'objet, dans lequel le sas de signature (8a, b, c, d) est conçu de manière à ce que les informations de signature d'objet desdits au moins deux capteurs de signature (9) soient associées de manière unique et/ou non équivoque à l'objet à surveiller, dans lequel les capteurs de signature (9) englobent tous les types de capteurs de surveillance (6), et
    un dispositif d'évaluation (10), dans lequel le dispositif d'évaluation (10) est conçu pour combiner des informations de signature d'objet afin d'obtenir des signatures d'objet (16), dans lequel le dispositif d'évaluation (10) est conçu pour établir et/ou compléter une signature d'objet (16) de l'objet à surveiller (4) sur la base des informations de signature d'objet et pour la détection et/ou le suivi de l'objet à surveiller (4) en comparant les informations d'objet détectées à la signature d'objet (16) de l'objet à surveiller (4),
    caractérisé en ce qu'un seul capteur de surveillance individuel (6) est placé par sous-zone et au moins un capteur de signature (9) est un capteur destiné à la mesure de rayonnement électromagnétique afin de créer une signature d'objet (16).
  2. Système de surveillance (1) selon la revendication 1, caractérisé en ce que le dispositif d'évaluation (10) est conçu pour établir la signature d'objet (16) exclusivement sur la base des informations de signature d'objet détectées par les capteurs de signature (9).
  3. Système de surveillance (1) selon la revendication 1 ou 2, caractérisé en ce que lesdits au moins deux capteurs de signature (9) sont disposés et/ou conçus pour l'acquisition spatialement superposée et/ou temporellement superposée de l'objet à surveiller (4) .
  4. Système de surveillance (1) selon l'une des revendications précédentes, caractérisé en ce que le sas de signature (8a, b, c, d) est conçu pour séparer l'objet à surveiller (4), dans lequel lesdits au moins deux capteurs de signature (9) sont disposés dans une zone de séparation permettant de détecter l'objet à surveiller séparé.
  5. Système de surveillance (1) selon l'une des revendications précédentes, caractérisé en ce que le sas de signature (8a, b, c, d) est disposé à une entrée de la zone de surveillance (2).
  6. Système de surveillance (1) selon l'une des revendications précédentes, caractérisé en ce que le sas de signature (8a, b, c, d) est conçu pour activer automatiquement la détection de l'objet à surveiller (4) .
  7. Système de surveillance (1) selon l'une des revendications précédentes, caractérisé en ce que le sas de signature (Sa, b, c, d) est conçu pour activer manuellement la détection de l'objet à surveiller (4).
  8. Système de surveillance (1) selon l'une des revendications précédentes, caractérisé en ce que les capteurs de surveillance (6) et/ou les capteurs de signature (9) sont disposés dans un réseau de capteurs (14, 15).
  9. Procédé pour la détection et/ou le suivi d'un objet à surveiller (4) dans le système de surveillance (1) selon l'une des revendications précédentes, dans lequel des signaux de mesure spécifiques du capteur, destinés à acquérir des propriétés de l'objet à surveiller (4), sont acquis par les capteurs de signature (9) dans le sas de signature (8a, b, c, d) et transmis au dispositif d'évaluation (10) en tant qu'informations de signature d'objet par l'intermédiaire du réseau (15), dans lequel une signature d'objet de l'objet à surveiller (4) est établie sur la base d'informations de signature d'objet d'une pluralité de capteurs de signature, dans lequel des informations de signature d'objet sont associées de manière unique et/ou non équivoque à l'objet à surveiller.
  10. Programme d'ordinateur comportant des moyens à code de programme destinés à mettre en oeuvre toutes les étapes du procédé selon la revendication 9 lorsque le programme est exécuté sur un ordinateur et/ou sur un système de surveillance selon l'une des revendications 1 à 8 précédentes.
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)

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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

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

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

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US20110175738A1 (en) 2011-07-21
CN102150183A (zh) 2011-08-10
CN102150183B (zh) 2016-06-01
DE102008041933A1 (de) 2010-03-11
EP2324461A1 (fr) 2011-05-25
WO2010028933A1 (fr) 2010-03-18
US8558696B2 (en) 2013-10-15

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