JP2007233919A - Intruder detection apparatus by imaging processing - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide an intruder detection apparatus which detects an intruder to a no-admittance place, such as important facilities and roads etc. and a suspicious person etc. who is wandering about, near border line using images of a surveillance camera. <P>SOLUTION: The intruder detection apparatus has, while detecting a moving object in a camera image as a moving lump, constitution which analyses the camera images which a surveillance camera 1 photographing an intrusion-forbidden area and its surrounding part photographs by an image processing part 2, which is provided with an intrusion forbidden line setting means 209 which sets an intrusion forbidden line partitioning an intrusion forbidden area and the other area in the camera image; an intrusion forbidden line inspection means 210, which sets intrusion forbidden area line detection range that is a prescribed area surrounding the intrusion forbidden line and detects the moving lump existing at the intrusion forbidden area side in the intrusion forbidden line detection range, as an intruding moving object and the moving lump existing at the other area side in the intrusion-forbidden line detection range, as an approaching moving object; and an intruder detection means 211, which detects the intruding moving object as an intruder and the approaching moving object as a suspicious person. <P>COPYRIGHT: (C)2007,JPO&INPIT

Description

  The present invention relates to an apparatus for detecting an intruder into a facility or road entry prohibition place, and in particular, by installing a surveillance camera for monitoring the entry prohibition place and processing the captured image, The present invention relates to an intruder detection apparatus that detects a person or the like that detects a person or the like who enters a prohibited entry area.

  In an important facility or road, an imaging means may be used to monitor a person approaching a prohibited entry area (also referred to as an intrusion prohibited area). The image pickup means is installed at a position overlooking a prohibited entry area, and generally, an image is displayed on a monitor in a monitoring room where guards or the like are stationed, and a person visually monitors an intruder or the like. Recently, with the development of image processing technology, a technology for detecting an intruder or the like by analyzing a video on a monitor has been proposed.

  Conventionally, an intruder detection device using image processing acquires an image without an intruder as a background image in advance, and the difference between the input image and the background image is taken so that the brightness of the input image corresponds to the background image. There is a background difference method in which an intruder is present at a location different from the pixel brightness. There is also a time difference method in which the previous image is temporarily saved, the difference between the input image and the previous image is taken, and when the brightness of the input image is different from the brightness of the corresponding pixel of the previous image, there is an intruder at that location. is there.

  Furthermore, as a method for reliably extracting only intruders from a moving part, after detecting a moving part by the background difference method, a motion vector of the moving part is calculated to calculate a movement pattern of the intruder. As a method using background difference and motion vector analysis for detecting an intruder by collating (see, for example, Non-Patent Document 1), and a method for detecting an intruder with a small amount of calculation, In the image to detect the presence or absence of intruders in the image by distributing the measurement points uniformly, performing correlation calculation for each measurement point, and evaluating the number of measurement points with reduced correlation value and the average of the reduced correlation values There is also a method (for example, refer to Patent Document 1) using a correlation calculation of the measurement points distributed in the area.

  In addition to the above, the surveillance camera and image processing unit constitutes a device that detects intruders in restricted areas by processing images from surveillance cameras installed in restricted areas such as facilities and roads. There are some (Japanese Patent Application No. 2002-123820).

  Specifically, the surveillance camera is installed at a position overlooking the prohibited entry location, the prohibited entry location and its peripheral part are imaged by the surveillance camera, and the captured image is transmitted to the image processing unit. The image processing unit inputs an image of the surveillance camera and divides the image into appropriate small areas. Then, the correlation calculation is performed for each of the small areas corresponding to the background image and the input image acquired in advance for each small area, and the small area having a temporal change is set as the small change area. A small area having no image is detected as a background candidate small area.

  Further, a change detection region is determined by combining adjacent change small regions, and when the geometric feature amount of the change detection region is within a feature amount range corresponding to a preset intruder, the change detection region is By determining that there is an intruder, the intruder is detected and the position in the image is specified.

  And in order to detect the intrusion to the fence or boundary line that divides the intrusion prohibited area and the area that is not, the line segment is set in the surveillance camera image in advance, and the change detection area set by the intruder etc. This is detected when there is interference.

JP 2003-339043 A JP 2002-123820 A JP 2002-24808 A JP 2002-150294 A Ushita, Fujiwara, Tadami, "Outdoor Intrusion Monitoring System Using Background Difference and Motion Vector Analysis", Proceedings of the 8th Image Sensing Symposium, 2002, p.7-12

The following problems can be considered in the intruder detection at the boundary line between the above-mentioned restricted entry area and the other areas.
1. In the image, in order to detect an intruder or the like when the change point detection area by an intruder or the like interferes with a line segment set as a boundary line of a prohibited entry point, it is possible to detect a suspicious person who deceives the vicinity of the boundary line. Have difficulty.
2. It is difficult to monitor the behavior after entering the intruder if the intruder enters the restricted area beyond the boundary because it detects when the change point detection area by the intruder interferes with the set line segment. is there.
3. Regardless of the direction of movement of the intruder, whether the change detection area by the intruder interferes with the set line segment, whether it is an act of entering from the outside or an action leaving the inside Judgment is difficult.
4). In order to detect intruders etc. when the change point detection area interferes with the set line segment, for example, when a small change detection area suddenly generated due to noise etc. interferes with the set line segment, There is a risk of erroneous detection such as detection.

  For this reason, the present invention provides an intruder detection device that detects an intruder to an inaccessible portion such as an important facility or a road and a suspicious person who despises the boundary line by using an image of a surveillance camera. For the purpose.

  An intruder detection apparatus based on image processing according to claim 1 of the present invention for solving the above-described problem is to obtain a camera image captured by the surveillance camera, a surveillance camera that captures an intrusion prohibited area and its peripheral portion, and In the intruder detection apparatus by image processing provided with an image processing unit that analyzes the camera image, the image processing unit detects a moving object in the camera image as a moving mass, and includes in the camera image An intrusion prohibition line setting means for setting an intrusion prohibition line that separates the intrusion prohibition area from other areas, an intrusion prohibition line inspection range that is a predetermined area surrounding the intrusion prohibition line, and the intrusion prohibition line inspection range A moving object that detects the moving mass present on the intrusion prohibited area side as an intruding moving object, and that approaches the moving mass present on the other area side in the intrusion prohibited line inspection range; And forbidden entry ray inspection device for detecting Te detects moving objects mentioned above penetrate the intruder, characterized in that a intruder detection means for detecting a moving object by the approaching as a suspicious person.

  An intruder detection apparatus using image processing according to claim 2 of the present invention is the intruder detection apparatus using image processing according to claim 1, wherein the image processing unit divides the camera image into a plurality of small areas. A dividing unit; a correlation calculating unit that performs correlation calculation of the small regions corresponding to the background image and the camera image acquired in advance; and the small region in which a temporal change in a correlation value by the correlation calculation is larger than a predetermined value Change detection means for detecting a change small area, a change area combination means for combining adjacent change small areas to form a change detection area, and a feature value evaluation means for calculating a geometric feature value of the change detection area And a motion block detection means for detecting the change detection region as a motion block when the geometric feature amount is within a preset feature amount range.

  The intruder detection device by image processing according to claim 3 of the present invention is the intruder detection device by image processing according to claim 1 or 2, wherein the size or position of the moving mass detected from the camera image or A motion detection means for determining that the motion chunks in the respective camera images are the same and detecting the positions of the motion chunks when both of the temporal variations are preset values; Intruder line crossing inspection means for determining that the moving mass has entered the intrusion prohibited area beyond the intrusion prohibition line when a mass has changed from the approaching moving object to the invading moving object, and the intrusion prohibition Intruder detection means for detecting the moving mass that has entered the area as an intruder is provided.

  According to the above described intruder detection apparatus using image processing according to the present invention, in order to detect an intruder or the like in the vicinity of the boundary between the intrusion prohibited area and another area that is not intrusion prohibited, If an intrusion prohibition line inspection range is provided, and if the moving mass detected in the invasion prohibition line inspection range does not interfere with the intrusion prohibition line, it is detected as an approaching motion mass, that is, a suspicious person, and if the intrusion prohibition line interferes Since it is configured to detect a moving mass that has entered, that is, an intruder, it is possible to detect an intruder in the intrusion prohibited area and to detect a suspicious person who deceives the vicinity of the intrusion prohibited area.

  An intrusion prohibition line inspection range is provided to determine whether intruders are near the intrusion prohibition line, and moving masses that enter the intrusion prohibition line inspection area exist in other areas with the intrusion prohibition line as a boundary. In this case, a moving mass that is approached is detected, and when it is present in the intrusion prohibited area, it is detected as an intruded motion mass. Therefore, it is possible to monitor the behavior of the intruder after entering the intrusion prohibited area.

  For intruders detected by moving mass detection, alerts are given to intruders that are detected as moving masses, and warnings are given to intruders that are detected as moving masses. Correspondence according to is possible.

  Since the temporal behavior of the intruder detected as a moving mass in the vicinity of the intrusion prohibited area is traced, it is possible to determine whether the act is an act of entering from the outside or an act of exiting from the inside.

  Since it is possible to determine whether it is an intrusion from the outside or an action from the inside, a warning is issued only when there is an intrusion from the outside. It is possible to take action according to the situation, such as not issuing a warning.

  Intruder detection that is more robust to changes in environmental conditions can be prevented by tracking the intruder's temporal behavior, preventing change detection areas that occur suddenly due to noise, etc. The device can be configured.

  The embodiment of the present invention will be described in detail with reference to the following examples.

  The first embodiment of the present invention will be described in detail with reference to FIGS. The present embodiment shows an example of the basic configuration of the present invention. The intruder detection device using image processing according to the present embodiment detects an intruder or the like entering the prohibited entry area by performing image analysis on the video of the surveillance camera 1 installed in the prohibited entry place such as a facility or a road. As shown in FIG. 1, the monitoring camera 1 and the image processing unit 2 are configured.

  The image processing unit 2 includes an image input unit 201, a small region dividing unit 202, a correlation calculating unit 203, a change detecting unit 204, a background image generating unit 205, a changing region combining unit 206, and a feature amount evaluating unit 207. A movement block detection unit 208, an intrusion prohibition line setting unit 209, an intrusion prohibition line inspection unit 210, and an intruder detection unit 211.

  The surveillance camera 1 is installed at a position overlooking a prohibited entry location, and images the prohibited entry location and its surroundings at regular intervals. The image input unit 201 inputs, for example, a camera image 3 as shown in FIG. 2A captured by the monitoring camera 1 at regular intervals. The small area dividing means 202 divides the input camera image 3 into appropriate small areas 30 as indicated by broken lines in FIG.

  The correlation calculation unit 203 calculates a correlation between the background image acquired in advance for each small region 30 and the camera image 3 corresponding to the background image. In this embodiment, the correlation value between the background image and the camera image 3 can be obtained using correlation calculation that is generally used. For example, the correlation value of the small region 30a where the moving object 4 exists is large, and the moving object The correlation value of the small area 30b where 4 is not present is calculated to be small.

  Based on the temporal change in each small area 30 calculated by the correlation calculation means 203, the change detection means 204 moves in the small area 30 where the correlation value is large and the change is detected, that is, in FIG. The small area 30a in which the object 4 exists is detected as a change small area.

  The background image generation means 205 uses the small areas that have a small correlation value and are not detected as change small areas by the change detection means 204, that is, all the small areas 30b in which the moving object 4 does not exist in FIG. Then, a background image is generated based on the background candidate small region 30b. This background image is used as a background image when the correlation calculation unit 203 performs correlation calculation of the next input camera image 3.

  The change region combining unit 206 combines adjacent small change regions 30a detected by the change detection unit 204 to form a change detection region 31 shown in FIG. Then, the feature amount evaluation means 207 measures the geometric feature amount of the change detection region 31 and evaluates whether or not the geometric feature amount of the change detection region 31 is within a preset feature amount range. . When the geometric feature amount of the change detection region 31 is within the feature amount range corresponding to the intruder, the motion chunk detection means 208 detects the change detection region 31 as a motion chunk.

  Intrusion prohibition line setting means 209 detects a moving object 4 that has entered an entry-prohibited area, so that a fence, a boundary line, or the like (not shown) that separates the intrusion-prohibited area in camera image 3 from other areas that are not intrusion prohibited. A line segment (hereinafter referred to as an intrusion prohibition line) 51 is set in advance at the position.

Further, as shown in FIG. 3, the intrusion prohibition line inspection means 210 surrounds the intrusion prohibition line 51 and includes, for example, a rectangular shape including an intrusion side 52 as an intrusion prohibition area side and an approach side 53 as another area side that are shaded in the figure. An intrusion prohibition line inspection range 5 that is the inspection range is set. Then, the moving masses 31a and 31b existing on the intrusion side 52 shown in FIG. 4 are detected as invading moving objects, and the moving mass 31c existing on the approaching side 53 in the intrusion prohibited line inspection range 5 is detected as an approaching moving object. To detect. The intrusion prohibition inspection range 5 is set to a range including both the intrusion side 52 and the approach side 53 so that the moving object 4 can be detected even when the moving object 4 exists in the vicinity of the intrusion prohibition line 51. is doing.
The intruder detection means 211 detects the moving masses 31a and 31b that are invading moving objects as intruders, and detects the moving mass 31c that is an approaching moving object as a suspicious person.

  Hereinafter, the function and effect of the present embodiment will be described. According to the intruder detection apparatus using image processing according to the present embodiment, the intrusion prohibition line inspection range 5 for determining that the moving object 4 exists in the vicinity of the intrusion prohibition line 51 is provided, and the intrusion Detecting a suspicious person who is in the vicinity of a prohibited entry area in order to detect a moving mass that has entered the prohibited line inspection range 5 as a moving mass 31a, 31b that has entered the forbidden prohibition line 51 or a moving mass 31c that has approached. Can do.

  Furthermore, it is possible to monitor the behavior after entering the prohibited entry area. In addition, for an intruder detected by detecting a moving mass, attention should be paid to the moving mass 31c detected as an approaching moving object 4, and to the moving masses 31a and 31b detected as an entering moving object 4. It is possible to respond according to the situation, such as generating a warning.

  For example, the above-described correlation calculation unit 203 can use a method such as the “on-road stationary obstacle detection method” disclosed in Patent Document 2, and the change detection unit 204 can include “stationary” described in Patent Document 3. For the background image generation means 205 such as “obstacle detection method”, the “background image acquisition method” disclosed in Patent Document 4 can be used.

  The second embodiment of the present invention will be described in detail based on FIG. Compared with the configuration shown in FIG. 1 described in the first embodiment, the present embodiment adds an inspection of whether or not the moving object has interfered with the entry prohibition portion beyond the entry prohibition line. In addition, FIGS. 2-4 demonstrated in Example 1 are applied to a present Example.

  The intruder detection device by image processing according to the present embodiment is an intruder or the like (hereinafter referred to as “moving”) that intrudes into a restricted entry area by analyzing an image of a video of the surveillance camera 1 installed in a restricted entry place such as a facility or a road. (Referred to as an object), and comprises a monitoring camera 1 and an image processing unit 2 as shown in FIG.

  Assume that the surveillance camera 1 is installed at a position overlooking a prohibited entry location, and images the prohibited entry location and its surroundings at regular intervals.

  The image processing unit 2 includes an image input unit 201, a small region dividing unit 202, a correlation calculating unit 203, a change detecting unit 204, a background image generating unit 205, a changing region combining unit 206, and a feature amount evaluating unit. 207, motion lump detection means 208, intrusion prohibition line setting means 209, intrusion prohibition line inspection means 210, motion detection means 212, intruder line crossing inspection means 213, and intruder detection means 214 are provided. ing. In the following, the same components as those shown in FIG. 1 are described using the same reference numerals, and description thereof will be omitted.

  The motion detection unit 212 detects the motion block detected by the motion block detection unit as a moving object that has entered by the intrusion prohibition line detection unit 209 or an approaching moving object, and then, for the camera image 3 that is input at regular intervals, When the motion block detected from the current input image is compared with the motion block detected from the previous input image, the change in the size and position of the motion blocks are smaller than the preset amount of change. Performs a motion detection process for determining the same motion block and detecting temporal movement of the motion block.

  The intruder line crossing inspection unit 213 tracks the same movement block by the motion detection unit 212, and the movement block from the movement block 31c which is an approaching moving object existing on the approaching side 53 of the intrusion prohibition line inspection range. An intrusion prohibition line that detects a process of moving to the moving mass 31a, which is an intruding moving object existing on the side 52, and determines that the intrusion has exceeded the intrusion prohibiting line 51 when the moving mass has changed to an intruding moving object. The intruder detection means 214 detects the moving masses 31a and 31b as intruders.

  As an effect of the present embodiment, in addition to the effect of the apparatus shown in the first embodiment, since the temporal behavior in the vicinity of the prohibited entry section of the moving object 4 detected as a moving mass is tracked, the invasion action from the outside It can be judged whether it is an act that has come out from inside. In addition, with this function, a warning can be issued only when the moving object 4 enters the inside from the outside, and a warning corresponding to an action that goes from the inside to the outside is not issued. In addition, since the temporal behavior of the moving object 4 is tracked, it is possible to prevent erroneous detection due to the change detection region 31 suddenly generated due to noise or the like interfering with the intrusion prohibition line 51, and more environmental conditions. An intruder detection device that is robust against changes can be configured.

  The present invention is applicable to a device for detecting an intruder to a prohibited entry point or the like in a facility or road, and in particular, by installing a monitoring camera for monitoring the prohibited entry point and processing the captured image, The present invention is suitable for application to an intruder detection device that detects a person who enters a prohibited area in an image and a person who deceives the vicinity of the prohibited area.

It is a block diagram which shows the structure of the intruder detection apparatus by the image process in Example 1 of this invention. It is a schematic diagram which shows the example of the camera image in Example 1 and Example 2 of this invention. It is a schematic diagram which shows the example of the intrusion prohibition line inspection range in Example 1 and Example 2 of this invention. It is a schematic diagram which shows the example of the motion block detected within the intrusion prohibition line inspection range in Example 1 and Example 2 of this invention. It is a block diagram which shows the structure of the intruder detection apparatus by the image process in Example 2 of this invention.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 Surveillance camera 2 Image processing part 3 Camera image 4 Moving object 5 Invasion prohibition line inspection range 30 Small area 30a Change small area 30b Background candidate small area 31 Change detection area 51 Intrusion prohibition line 52 Intrusion side (intrusion prohibition area side)
53 Approaching side (other area side)
DESCRIPTION OF SYMBOLS 201 Image input means 202 Small area division means 203 Correlation calculation means 204 Change detection means 205 Background image generation means 206 Change area combination means 207 Feature quantity evaluation means 208 Motion block detection means 209 Intrusion prohibition line setting means 210 Intrusion prohibition line inspection means 211 , 214 Intruder detection means 212 Motion detection means 213 Intruder line crossing inspection means

Claims (3)

  In an intruder detection apparatus by image processing, comprising: a surveillance camera that captures an intrusion prohibited area and its surroundings; and an image processing unit that acquires a camera image captured by the surveillance camera and analyzes the camera image. An image processing unit that detects a moving object in the camera image as a moving mass, and sets an intrusion prohibition line setting unit that sets an intrusion prohibition line that separates an intrusion prohibition area from another area in the camera image; and the intrusion An intrusion prohibition line inspection range that is a predetermined area surrounding the prohibition line is set, the moving mass existing on the intrusion prohibition area side in the intrusion prohibition line inspection range is detected as an intruding moving object, and the intrusion prohibition is detected. Intrusion prohibition line inspection means for detecting the moving mass present on the other area side in the line inspection range as an approaching moving object, and detecting the intruding moving object as an intruder, Intruder detecting apparatus using image processing, characterized in that a intruder detection means for detecting a moving object was Chikashi as suspicious person.   The image processing unit includes a small area dividing unit that divides the camera image into a plurality of small areas, a correlation calculating unit that performs correlation calculation of the small area corresponding to each of the background image acquired in advance and the camera image, Change detection means for detecting the small area where the temporal change in the correlation value by correlation calculation is larger than a predetermined value as a change small area, and change area combining means for combining the adjacent change small areas to form a change detection area And a feature amount evaluating means for calculating a geometric feature amount of the change detection region, and a motion for detecting the change detection region as a motion block when the geometric feature amount is within a preset feature amount range. The intruder detection apparatus according to claim 1, further comprising a lump detection unit. When the amount of temporal change in the size or position of the moving mass detected from the camera image or both is a preset value, the moving mass in each camera image is determined to be the same. Motion detecting means for detecting the position of the moving mass; and when the moving mass changes from the approaching moving object to the invading moving object, the moving mass enters the intrusion prohibited area beyond the intrusion prohibition line. The intruder line crossing inspection means for determining that the intruder has been detected and the intruder detection means for detecting the moving mass that has entered the intrusion prohibited area as an intruder are provided. Intruder detection device by image processing.

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