JP2009295063A - Intrusion object detection device - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide an intrusion object detection device suppressing a false notification caused by a change in an image occurring successively for a certain time to perform intrusion object detection with high reliability. <P>SOLUTION: This intrusion object detecting and tracing device detecting and tracing an intrusion object into a monitoring place by performing image processing of image data imaged by a monitoring camera inspects whether or not a detected intrusion object candidate is detected successively for a preset intrusion detection confirmation time or above (step S4), inspects whether or not an initial movement distance from an initially detected position of the intrusion object candidate to a position of the intrusion object candidate detected after the intrusion object confirmation time is a preset initial movement confirmation distance or above about the intrusion object candidate detected successively for the intrusion object detection confirmation time or above, and detects the intrusion object candidate having the initial movement distance of the initial movement confirmation distance or above as the intrusion object (step S5). <P>COPYRIGHT: (C)2010,JPO&INPIT

Description

  The present invention relates to an intruder detection apparatus that detects intruders such as intruders who enter a prohibited area on a facility or road by image processing.

Intruder detection devices for outdoor facilities have been proposed.
For example, in Patent Documents 1 and 2, an input image captured by a surveillance camera is compared with a background image that has been captured and stored in advance, and a partial region that has changed is detected on the image, and the change is detected. The presence or absence of an intruder is determined by examining the geometric feature quantity of the partial area, and the position of the intruder in the image is specified.

  Further, in Patent Document 3, in order to prevent erroneous detection and misreporting due to external light, a monitoring camera is configured by a stereo camera in which two cameras are installed in parallel, and the right and left differential images of the right image and the left image are stored in advance. Compared with the set background image, it detects the part that changes in the image, and uses the fact that the size of the changed part due to external light is as small as the distance between the cameras in the comparison with the left and right difference images. Intruders in the image are detected by detecting only the changed portion that is larger than the set threshold.

  Further, in Patent Document 4, in order to eliminate false detections and false alarms due to light and dark patterns such as shadows, an input device is constituted by a monitoring camera and a laser distance measuring device, and an input image by the monitoring camera and a reference stored in advance. By examining both the comparison result with the image and the comparison result between the distance measured by the laser rangefinder and the reference distance stored in advance, the influence of shadows etc. is eliminated, and intruders in the image are detected. Yes.

JP 2006-252248 A JP 2007-233919 A JP 2007-124269 A JP 2002-208073 A

  In Patent Documents 1 and 2, the background image and the input image are compared, and the intruder can be detected by detecting the intruder that has entered the image of the surveillance camera as being different from the background image. Further, there is an advantage that an existing surveillance camera can be used as an input device. This method examines the geometric features of the change detection subregions that combine adjacent change subregions, so that the image can be displayed on the image due to temporary sunshine changes, sudden fluctuations in the vegetation, image signal noise, etc. There is an effect to suppress the influence of the change to some extent.

  However, the feature amount range of the change detection partial area detected from changes in the image due to temporary sunshine changes, sudden fluctuations in the vegetation, noise in the image signal, etc. corresponds to the intruder even for a moment. When it is within, intruder detection occurs, which becomes false detection and false alarm. Also, if you want to detect multiple types of intruders, such as “stopper”, “pedestrian”, “traveler”, “bicycle”, “car”, “truck”, “forklift”, etc. `` Corresponding feature amount range '' must be a range with a certain width, and changes detected by changes in the image due to temporary sunshine changes, sudden fluctuations in the vegetation, image signal noise, etc. There is a high possibility that the feature amount of the detected partial area matches the “feature range corresponding to the intruder”.

  Further, in Patent Document 3, since false detection and misreporting due to external light are prevented using a parallax image from a stereo camera, the occurrence of false detection and misreporting is suppressed compared to Patent Documents 1 and 2. Since a stereo camera is required as an input device, the cost is increased. In addition, installation of stereo cameras as facility monitoring cameras is not common, and it is difficult to introduce them as facility monitoring equipment.

  Moreover, in patent document 4, although generation | occurrence | production of a misdetection and a false alarm is suppressed by combining a surveillance camera and a laser range finder, you have to install an expensive laser range finder for every monitoring place, As a monitoring system, the cost is significantly increased. Careful attention must be paid to the location where the laser range finder is installed, and the monitoring location is limited to a flat, wide location without any obstruction that hinders measurement of the laser range finder. In addition, in order to associate the position of the target detected in the image of the monitoring camera with the position of the target detected by the laser distance measuring device, it is necessary to align the position of the monitoring camera and the laser distance measuring device in advance. Yes, adjustment during installation is difficult.

  The present invention has been made in view of the above problems, and provides an intruder detection apparatus that performs intrusion detection with high reliability by suppressing false alarms caused by changes in an image that occur continuously for a certain period of time. With the goal.

An intruder detection apparatus according to a first invention for solving the above-mentioned problem is as follows.
In an intruder detection apparatus that has an image pickup means for picking up an image of a monitoring place and an image processing means for performing image processing of image data continuously transmitted from the image pickup means, and detects an intruder in the monitoring place.
The image processing means includes
An image change detection unit that detects a change small region in which an image has changed by comparing background image data of a monitoring location stored in advance and image data transmitted from the imaging unit;
Based on the change small area detected by the image change detection unit, the change small areas adjacent to each other are combined to determine a change detection partial area, and the geometric feature amount of the intruder set in advance and the change are determined. An intruder candidate detection unit that compares the geometric feature amount in the detection partial region and detects the change detection partial region as an intruder candidate when entering a predetermined geometric feature amount range of the intruder;
The intruder candidate detected by the intruder candidate detection unit is inspected whether or not it is continuously detected for a predetermined intrusion detection confirmation time or longer, and continuously for the intruder detection confirmation time or longer. For the intruder candidate to be detected, the initial movement distance from the position of the intruder candidate detected first to the position of the intruder candidate detected after the intruder detection confirmation time is a preset initial movement. An intruder detection unit that checks whether the distance is equal to or greater than a confirmation distance and detects the intruder candidate whose initial movement distance is equal to or greater than the initial movement confirmation distance as an intruder.

An intruder detection apparatus according to a second invention for solving the above-mentioned problem is as follows.
In an intruder detection apparatus that has an image pickup means for picking up an image of a monitoring place and an image processing means for performing image processing of image data continuously transmitted from the image pickup means, and detects an intruder in the monitoring place.
The image processing means includes
An image change detection unit that detects a change small region in which an image has changed by comparing background image data of a monitoring location stored in advance and image data transmitted from the imaging unit;
Based on the change small area detected by the image change detection unit, the change small areas adjacent to each other are combined to determine a change detection partial area, and the geometric feature amount of the intruder set in advance and the change are determined. An intruder candidate detection unit that compares the geometric feature amount in the detection partial region and detects the change detection partial region as an intruder candidate when entering a predetermined geometric feature amount range of the intruder;
The intruder candidate detected by the intruder candidate detection unit is inspected whether or not it is continuously detected for a predetermined intrusion detection confirmation time or longer, and continuously for the intruder detection confirmation time or longer. For the intruder candidate to be detected, the initial movement distance from the position of the intruder candidate detected first to the position of the intruder candidate detected after the intruder detection confirmation time is a preset initial movement. The intrusion detected after the intruder detection confirmation time from the position of the intruder candidate first detected for the intruder candidate whose initial movement distance is equal to or greater than the initial movement confirmation distance. The initial movement direction to the position of the object candidate is obtained, the intruder candidate unit time movement direction for each unit time of the intruder candidate until the intruder detection confirmation time is obtained, and the initial movement direction The intruder candidate unit time deviation angle formed by the intruder candidate unit time movement direction is obtained, and all of the intruder candidate unit time deviation angles are set in advance until the intruder detection confirmation time. And an intruder detection unit that detects the following intruder candidates as intruders.

An intruder detection apparatus according to a third invention for solving the above-described problem is
In the intruder detection apparatus according to the second invention,
The intruder detection unit
For other intruder candidates whose initial movement distance is less than the initial movement confirmation distance, the position at the time when the other intruder candidate is detected and the position immediately before the time when the other intruder candidate is detected. Compared with the position of the intruder candidate detected at the time, and if the two positions are within the preset proximity carry-in detection distance, the other intruder candidate was detected at the previous time It is determined that the intruder candidate brought in, and the other intruder candidate is detected as another intruder.

The present invention has the following effects.
(1) Intrusion detection devices using surveillance camera images of outdoor facilities can suppress false detections and false alarms due to temporary changes in sunlight, fluctuations of vegetation due to sudden winds, noise in image signals, etc. A highly intrusive detection result can be obtained.
(2) Suppresses false detections and false alarms due to the effects of changes on the image even when changes due to changes in sight, swaying of the vegetation due to wind, noise due to image signal, etc. occur for a certain period of time. Thus, a highly reliable intruder detection result can be obtained.
(3) Obtaining highly reliable intrusion detection results by suppressing false detections and false alarms caused by changes in images that reciprocally move back and forth due to natural phenomena such as shaking of tree shadows illuminated by street lights at night be able to.
(4) In addition to suppressing false detections and false alarms, it is possible to detect both carried-in objects that have been installed and dropped by intruders.
(5) It is not necessary to use a special configuration as an input device, and a general surveillance camera can be used.
(6) Existing surveillance cameras installed in outdoor facilities can be diverted, and the introduction cost of the surveillance system can be kept low.
(7) Since it does not require cooperation between the surveillance camera and other sensor devices, but is a method for detecting intruders by processing surveillance camera images, it is like positioning between the camera and the sensor device. There is no need to make any special adjustments, and adjustments during installation are easy.

  The intruder detection apparatus according to the present invention uses a monitoring camera as an input device, as in the case of a conventional intruder detection apparatus, and performs image processing on an image captured by the monitoring camera, so that important facilities, roads, etc. Intruders such as intruders who enter the prohibited areas are detected.

Here, a typical example of detecting an intruder in the conventional intruder detection apparatus is shown in FIGS. For example, as shown in FIG. 1, when a person 2 enters the monitoring place (on the monitoring screen 1) from the outside, the person is detected on the monitoring screen 1 by detecting a partial area that has changed by image processing. 2 is detected as an intruder I to be detected. In addition, as shown in FIG. 2, even when a dangerous object 3 is thrown into the monitoring place (on the monitoring screen 1) from the outside, by detecting a partial area that has changed by image processing, The dangerous object 3 is detected as an intruder I to be detected. However, as shown in FIG. 3, when the tree 4 at the monitoring location (on the monitoring screen 1) is shaking, a partial area that has changed by image processing is detected. The shaking of the tree 4 was detected as intrusions I ₁ and I ₂ , which was a false detection.

  In this way, when detecting an intruder in a conventional intruder detection device, a change in the image that occurs continuously for a certain period of time due to changes in sunshine, shaking of vegetation due to wind, noise in the image signal, etc. Due to this, false positives occurred and were misreported.

  Therefore, in the intruder detection apparatus according to the present invention, even if the intruder passes through the monitoring place like a person or a car, the intruder stops at the monitoring place like a dangerous thing thrown in the intruder. However, paying attention to the fact that it will first move and enter the monitoring location, check the initial movement (distance, direction, etc.) when an intruder is detected, and enter the monitoring location from the outside. It is determined whether or not the intruder has come. As a result, it has been possible to suppress erroneous detection caused by these, even in the case of a change in the image due to a change in sunlight, a fluctuation of vegetation due to wind, noise in an image signal, etc. It becomes possible.

  As described above, some embodiments of the intruder detection apparatus according to the present invention capable of suppressing erroneous detection will be described below in detail with reference to the drawings.

  FIG. 4 is a flowchart for explaining an example of the intruder detection method in the intruder detection apparatus according to the present invention, FIG. 5 is a block diagram showing an example of the intruder detection apparatus according to the present invention, and FIG. FIG. 6 is a block diagram illustrating an intruder detection unit of the intruder detection apparatus illustrated in FIG. 5. Moreover, FIG. 7 is a figure explaining the detection of the intruder in the intruder detection apparatus shown in FIG.

  First, an outline of the intruder detection apparatus of the present embodiment will be described with reference to the flowchart of FIG.

  In the intruder detection apparatus according to the present embodiment, the input image captured by the monitoring camera is compared with the background image that has been captured and stored in advance, and a partial area that changes on the image (referred to as a “change detection partial area”). .) Is detected (steps S11 to S12). Then, it is determined whether or not the change is caused by an intruder by examining the geometric feature value of the detected change detection partial area. If it is determined that the change is caused by an intruder, the change detection partial area is detected as an intruder candidate. (Step S13).

  Next, it is checked whether or not the detected intruder candidate is continuously detected for a preset time (referred to as “intrusion detection confirmation time”) (step S14). Then, for the intruder candidate that is continuously detected for more than the intruder detection confirmation time, the distance from the position of the intruder candidate detected first to the position of the intruder candidate detected after the intruder detection confirmation time (“initial movement distance” ) Is equal to or greater than a preset distance (referred to as “initial movement confirmation distance”), and an intruder candidate whose initial movement distance is equal to or greater than the initial movement confirmation distance is determined as an intruder. It detects (step S15) and outputs the result (step S16).

  Next, the configuration of the intruder detection apparatus according to the present embodiment will be described with reference to the block diagram of FIG.

  The intruder detection apparatus according to the present embodiment includes a monitoring camera 11 (imaging unit) and an image processing unit 12 (image processing unit). The monitoring camera 11 is installed at a position overlooking a monitoring place (such as a restricted entry area and its peripheral part), images the monitoring place, and continuously transmits the image data taken to the image processing unit 12.

  The image processing unit 12 includes an image input unit 13, a storage unit 14, a processing setting unit 15, an image change detection unit 16, an intruder candidate detection unit 17, an intruder detection unit 18 a, and a result output unit 19. And detecting an intruder into the monitoring location by performing image processing of the image data. The configuration of the image processing unit 12 and the procedure of the intruder detection method will be described with reference to the flowchart of FIG. 4 and the block diagram of FIG.

  In the image input unit 13, image data is continuously input from the monitoring camera 11, and the input image data is stored in the storage unit 14 (see also step S11 in FIG. 4).

  The process setting unit 15 sets process variables necessary for the determination of intrusion detection, and stores the process variables in the storage unit 14.

  The image change detection unit 16 takes out the set processing variable, the background image data of the monitoring location stored in advance, and the newly input image data from the storage unit 14, and stores the image data in an appropriate small area. Divide and calculate the correlation between the background image data and image data corresponding to each small area, and change from the small areas set in the image data based on the temporal change of the correlation value Are detected, and background candidate small regions with little change from the background are detected and stored as small region data in the storage unit 14 (see also step S12 in FIG. 4).

  The intruder candidate detection unit 17 determines a change detection partial region by combining adjacent change subregions based on the set processing variables and the stored small region data, and determines a geometrical shape corresponding to a preset intruder. When the feature quantity is compared with the geometric feature quantity in the change detection partial area, and the geometric feature quantity in the change detection partial area falls within the geometric feature quantity range corresponding to the preset intruder, the change The detected partial area is detected as an intruder candidate, and is stored in the storage unit 14 as intruder candidate data (see also step S13 in FIG. 4).

  As shown in FIG. 6, the intruder detection unit 18a includes a detection confirmation time inspection unit 21, an initial movement distance inspection unit 22, and an intruder determination unit 23.

Then, the detection confirmation time inspecting unit 21 checks whether or not the intruder candidate is continuously detected for more than the intrusion detection confirmation time based on the set processing variable and the stored intruder candidate data, and determines the intrusion detection confirmation time. The intruder candidate detected continuously for the above time is regarded as acceptable, and the others are regarded as unacceptable.
The initial movement distance inspection unit 22 compares the initial movement distance with the initial movement confirmation distance for the intruder candidate that has passed the detection confirmation time inspection unit 21, and finds an intruder candidate whose initial movement distance is equal to or greater than the initial movement confirmation distance. It is considered as acceptable, and the others are regarded as unacceptable.
Further, the intruder determining unit 23 detects an intruder candidate that has passed both the detection confirmation time inspecting unit 21 and the initial moving distance inspecting unit 22 as an intruder, and stores it as intruder data to the storage unit 14. (See also steps S14 to S15 in FIG. 4).

  The storage unit 14 stores the above-described result data and the like along with the counter, the input image data, and the set processing variables.

  The result output unit 19 outputs the intruder data including the presence / absence of the intruder detection, the position of the intruder on the image, the geometric data, etc. together with the image data (see also step S16 in FIG. 4).

  With the above configuration and procedure, the intruder detection apparatus according to the present embodiment detects an intruder at a monitoring place by processing an image from the monitoring camera 11.

  Here, a specific example of intruder detection in the intruder detection apparatus of the present embodiment will be described with reference to FIGS.

In the intruder detection apparatus of the present embodiment, the change detection partial area is detected from the input image captured by the monitoring camera 11, and the intruder candidate is detected from the detected change detection partial area (steps S11 to S11 in FIG. 4). (See also S13). Accordingly, as shown in FIG. 7A, when a person 2 enters the monitoring place (on the monitoring screen 1) from the outside, and the tree 4 at the monitoring place (on the monitoring screen 1) is shaken by the wind. On the monitoring screen 1, the person 2 is detected as the intruder candidate N _{1 and} the shaking of the tree 4 is detected as the intruder candidates N ₂ and N ₃ .

If the intruder candidates N ₂ and N ₃ are determined to be intruders as they are, erroneous detection will occur. However, in the intruder detection apparatus of the present embodiment, each of the intruder candidates N ₁ , N ₂ , and N ₃ is previously detected. It is inspected whether or not the intruder detection confirmation time is continuously detected for the set intruder detection confirmation time, and for the intruder candidate that has passed the inspection of the intruder detection confirmation time, the initial movement confirmation distance set in advance by the initial movement distance d The intruder candidate whose initial movement distance d is equal to or greater than the initial movement confirmation distance is detected as an intruder and is output as intruder data together with image data and the like (step in FIG. 4). S14 to S16, see also FIG. 6).

Therefore, as shown in FIG. 7B, the person 2 who has entered the monitoring place (on the monitoring screen 1) from the outside is continuously detected for a preset intruder detection confirmation time and the initial movement distance d. Is equal to or longer than the preset initial movement confirmation distance, and is eventually detected as an intruder I. On the other hand, the shaking of the tree 4 at the monitoring location (on the monitoring screen 1) is rarely detected continuously for a preset intruder detection confirmation time, and temporarily continues for the preset intruder detection confirmation time. Even if detected, the initial movement distance is further less than the initial movement confirmation distance set in advance, so that it is finally suppressed that the intruder candidates N ₂ and N ₃ are detected as intruders. .

  As described above, in the intruder detection apparatus according to the present embodiment, on the image generated continuously for a certain period of time due to a change in sunshine, a fluctuation of vegetation due to wind, noise in an image signal, etc. Intrusion detection results with high reliability can be obtained by suppressing erroneous detection due to changes.

  Further, since a special configuration such as Patent Documents 3 and 4 is not used as an input device, a general surveillance camera can be used. For this reason, the existing surveillance camera installed in the outdoor facility can be diverted, and the introduction cost of the surveillance system can be kept low.

  Further, since the intruder detection method that processes the image of the surveillance camera is used without using the intruder detection method that requires cooperation between the surveillance camera and another sensor device as in Patent Document 4, the camera There is no need to perform special adjustments such as alignment between the sensor device and the sensor device, and adjustment at the time of device installation is easy.

  As shown in FIG. 8, when the shake of the shadow 6 of the tree 4 illuminated by the streetlight 5 moves back and forth greatly due to a natural phenomenon at night, the intruder candidate detected due to the change on the image The intruder detection apparatus shown in the first embodiment may be detected continuously for a predetermined intruder detection confirmation time, and further, the initial movement distance may be equal to or greater than the preset initial movement confirmation distance. However, there is a possibility that the intruder candidate is erroneously detected as an intruder.

  Therefore, in the intruder detection apparatus of the present embodiment, the intruder detection section 18b is used instead of the intruder detection section 18a in the intrusion detection apparatus of the first embodiment. The intruder detection apparatus according to the present embodiment is different from the intruder detection apparatus according to the first embodiment only in the intruder detection unit 18b. Therefore, the same reference numerals are given to the same components as those in the first embodiment, and the duplicate description will be omitted, and the intruder detection apparatus of the present embodiment will be described.

  Here, with reference to FIGS. 9-13, the intruder detection apparatus of a present Example is demonstrated. FIG. 9 is a flowchart for explaining another example of the intruder detection method in the intruder detection apparatus according to the present invention, and FIG. 10 is a block diagram showing another example of the intruder detection apparatus according to the present invention. FIG. 11 is a block diagram for explaining an intruder detection unit of the intruder detection apparatus shown in FIG. 12 and 13 are diagrams for explaining detection of an intruder in the intruder detection apparatus shown in FIG.

  In the intruder detection apparatus according to the present embodiment, the intruder detection unit 18b includes a detection confirmation time inspection unit 21, an initial movement distance inspection unit 22, an intruder determination unit 23, and an initial movement direction inspection unit 31 as illustrated in FIG. It is comprised by. That is, the initial movement direction inspection unit 31 is further added to the intrusion detection unit 18a in the intrusion detection device according to the first embodiment.

  Then, in the initial movement direction inspection unit 31, for the intruder candidate passed by the initial movement distance inspection unit 22, the position of the intruder candidate detected after the intruder detection confirmation time from the position of the intruder candidate detected first is detected. The direction (referred to as “initial moving direction”) is determined, and the moving direction per unit time of the intruder candidate until the intruder detection confirmation time (referred to as “intruder candidate unit time moving direction”) is determined. The angle between the initial moving direction and the intruder candidate unit time moving direction (referred to as “intruder candidate unit time deviation angle”) is obtained, and all intruder candidate unit time deviation angles are set in advance until the intruder detection confirmation time. The intruder candidates below the allowable angle (referred to as “intruder candidate movement allowable angle”) that have been set are accepted and others are rejected (see step S26 in FIG. 9 and FIG. 11).

  Accordingly, the intruder determination unit 23 detects an intruder candidate that has passed all of the detection confirmation time inspection unit 21, the initial movement distance inspection unit 22, and the initial movement direction inspection unit 23 as an intruder, and detects the intruder. The data is stored in the storage unit 14 as data.

  Next, a specific example of intruder detection in the intruder detection apparatus of the present embodiment will be described with reference to FIGS.

As shown in FIG. 12, when a person enters the monitoring place (on the monitoring screen 1) from the outside, the intruder detection apparatus of this embodiment also uses the change detection partial area from the input image captured by the monitoring camera 11. And the intruder candidate is detected from the detected change detection partial area (see steps S21 to S23 in FIG. 9), so that the intruding person is first detected as the intruder candidate N _t0 on the monitoring screen 1. To do. Note that steps S21 to S23 are exactly the same as steps S11 to S13 shown in FIG.

For example, when the invading person moves with time, the intruder candidates N _t1 , N _t2 , N _t3 , N _t4 , and N _t5 are further detected on the monitoring screen 1. The intruder candidates N _{t0 to} N _t5 are inspected to determine whether or not they are continuously detected for a predetermined intruder detection confirmation time (here, t5). For the intruder candidate that has passed the inspection, it is inspected whether or not the initial movement distance is equal to or greater than a preset initial movement confirmation distance (steps S24 to S25 in FIG. 9, see FIG. 11).

In addition, for the intruder candidate whose initial movement distance is equal to or greater than the initial movement confirmation distance, the intruder candidate N _t5 detected after the intruder detection confirmation time (t5) from the position of the intruder candidate N _t0 detected first (t0) _. The initial moving direction L to the position is determined, and the intruder candidate unit time moving direction C _t0 , C _t1 , C _t2 , C _t3 , C _t4 of each intruder candidate until the intruder detection confirmation time (t5). The intruder candidate unit time deviation angle between the initial movement direction L and the intruder candidate unit time movement direction C _{t0 to} C _t4 is obtained, and all intruder candidate unit time deviations up to the intruder detection confirmation time (t5) are obtained. An intruder candidate whose angle is equal to or less than a preset intruder candidate movement allowable angle is detected as an intruder, and is output as intruder data together with image data and the like (steps S26 to S27 in FIG. 9). FIG. 11).

Therefore, as shown in FIG. 12, when a person who has entered the monitoring location (on the monitoring screen 1) from the outside moves with time, the initial moving direction L and the intruder candidate unit are usually set. Since the intruder candidate unit time deviation angle which is an angle formed by the time movement directions C _{t0 to} C _t4 is small, the intruder candidates N _{t0 to} N _t5 are finally detected as the intruder I. .

On the other hand, as shown in FIG. 13, when the tree 4 in the monitoring place (on the monitoring screen 1) is illuminated by the streetlight 5, and the tree 4 reciprocates greatly due to a natural phenomenon, the shadow 6 of the tree 4 The intruder candidate N ₁ detected at times t 0, t 2, and t 4 and N detected at times t ₁ , t 3, and t 5 due to the change in the image accompanying the movement. ₂ is detected continuously for a preset intruder detection confirmation time or more, and the initial movement distance is equal to or greater than the preset initial movement confirmation distance. Intruder candidates N ₁ and N ₂ may be erroneously detected as intruders.

However, in the intruder detection apparatus according to the present embodiment, the intruder candidates N ₁ and N ₂ are further detected after the intruder detection confirmation time (t5) from the position of the intruder candidate N ₁ detected first (t0). The initial moving direction L to the position of the intruder candidate N ₂ is obtained, and the intruder candidate unit time moving directions C ₁ and C ₂ of each intruder candidate until the intruder detection confirmation time (t5) are obtained. Yes. When the shadow 6 of the tree 4 reciprocates greatly, either the intruder candidate unit time movement direction C ₁ or C ₂ may be almost opposite to the initial movement direction L. Up to the detection confirmation time (t5), the intruder candidate unit time deviation angle formed by the initial movement direction L and the intruder candidate unit time movement directions C ₁ and C ₂ is larger than a preset intruder candidate movement allowable angle. Therefore, the detection of the intruder candidates N ₁ and N ₂ as intruders is finally suppressed (see step S26 in FIG. 9 and FIG. 11).

  Thus, in the intruder detection apparatus of the present embodiment, in addition to the effects of the intruder detection apparatus shown in the first embodiment, as shown in FIG. 13, the shadow 6 of the tree 4 illuminated by the streetlight 5 is shown at night. Even in the case of a large reciprocal movement due to a natural phenomenon, it is possible to suppress erroneous detection due to a change on the image and obtain a highly reliable intruder detection result.

  The above-described first and second embodiments have a great effect of preventing erroneous detection due to a change in the image and obtaining a highly reliable intruder detection result. Or dropped items may not be detected.

Specifically, as shown in FIG. 14, in the first and second embodiments, on the monitoring screen 1, first, the person 2 and the brought-in object 7 are collectively detected as one intruder candidate N _t0 and N _t1. After that, it is detected as an intruder I _t1 . Then, if the person 2 is away dropped bring material 7, the person 2 itself as the same intruder I _t2, I _t3 and intruder I _t1 initially detected, are detected continuously. However, although the brought-in object 7 is detected as a new intruder candidate N _t2 when it is separated from the person 2 who came with it, the initial moving distance of the invader object N _t2 is small. Is more likely not to be finally detected as an intruder.

  Therefore, in the intruder detection apparatus of the present embodiment, the intruder detection section 18a in place of the intruder detection section 18a in the intrusion detection apparatus of the first embodiment and the intruder detection section 18b in the intruder detection apparatus of the second embodiment. 18c is used. Note that the intruder detection apparatus of the present embodiment is different from the intruder detection apparatus of Embodiments 1 and 2 only in the intruder detection section 18c. Therefore, the same reference numerals are given to the same components as those in the first and second embodiments, and the duplicate description will be omitted, and the intruder detection apparatus according to the present embodiment will be described.

  Here, with reference to FIGS. 15-17, the intruder detection apparatus of a present Example is demonstrated. 15 is a flowchart for explaining another example of the intruder detection method in the intruder detection apparatus according to the present invention, and FIG. 16 is a block diagram showing another example of the intruder detection apparatus according to the present invention. FIG. 17 is a block diagram illustrating an intruder detection unit of the intruder detection apparatus shown in FIG.

  In the intruder detection apparatus according to the present embodiment, the intruder detection unit 18c includes a detection confirmation time inspection unit 21, an initial movement distance inspection unit 22, an intruder determination unit 23, and an initial movement direction inspection unit 31 as illustrated in FIG. , A neighboring intruder inspection unit 41, logical sum units 42 and 43, and a logical product unit 44. That is, the intruder detection unit 18b in the intruder detection apparatus according to the second embodiment further includes a nearby intruder inspection unit 41, logical sum units 42 and 43, and a logical product unit 44.

  The intruder detection unit 18c pays attention to the fact that the person and the carry-in object were detected as a single intrusion object immediately before the carry-in object left the person who brought it in. For a new intruder candidate with a small initial moving distance, the position at the time when the new other intruder candidate is detected and immediately before the new other intruder candidate is detected. The intruder candidate or the position of the intruder detected at the point of time is compared, and if these two positions are within a preset distance (referred to as “neighboring object detection distance”), a new other It is possible to determine the intruder candidate as an intruder candidate detected in the vicinity or a carry-in object brought in by the intruder, and to detect the carry-in object as another intruder.

  More specifically, in the intruder detection unit 18c, the nearby intruder inspection unit 41 determines the position of the intruder candidate when it is first detected for the intruder candidate that has failed the initial moving distance inspection unit 22. And the position of the intruder candidate or the intruder detected at the time immediately before this point in time, and the distance between these two positions is within the preset proximity carry-in detection distance It is considered as acceptable, and the others are regarded as unacceptable.

  The logical sum unit 42 inputs the pass / fail result of each of the two inspection units (the initial travel distance test unit 22 and the initial travel distance test unit 41). If at least one of the pass / fail results is acceptable, the result is passed. Other than that, it is rejected. In addition, the logical sum unit 43 inputs the pass / fail result of each of the two inspection units (initial movement direction inspection unit 31 and initial movement distance inspection unit 41), and if at least one of the pass / fail results is acceptable, It is considered as acceptable, and the others are regarded as unacceptable. Further, the logical product unit 44 inputs the pass / fail result of each of the two logical sum units 42 and 43. If both pass / fail results are acceptable, the result is passed, and the others are rejected. Then, the intruder determination unit 23 detects the intruder candidate that has been accepted by both the detection confirmation time inspection unit 21 and the logical product unit 44 as an intruder, and stores it as intruder data in the storage unit 14. ing.

  Next, a specific example of intruder detection in the intruder detection apparatus of the present embodiment will be described with reference to FIG. 14 again.

As shown in FIG. 14, when a person 2 enters a monitoring place (on the monitoring screen 1) from outside with a carry-on object 7, the intruder detection apparatus of the present embodiment also captures an image with the monitoring camera 11. Since the change detection partial area is detected from the input image and the intruder candidate is detected from the detected change detection partial area (see steps S31 to S33 in FIG. 15), the intruding person 2 and The brought-in items 7 are first detected as one intruder candidate N _t0 . Note that steps S31 to S33 are exactly the same as steps S11 to S13 shown in FIG.

Then, the person 2 and bring product 7 invading, for example, when moves with time, in the monitoring screen 1, is detected as an intrusion object candidate N _t1, the intruder candidate N _t1 Inspecting whether or not the intruder detection confirmation time is continuously detected for a predetermined time or more, and for the intruder candidate N _t1 that has passed the inspection of the intruder detection confirmation time, the initial moving distance is set in advance. It is inspected whether or not the movement confirmation distance is exceeded (see steps S34 to S35 in FIG. 15 and FIG. 17).

In addition, for the intruder candidate N _t1 whose initial movement distance is _equal to or _larger than the initial movement confirmation distance, the initial position from the position of the first detected intruder candidate N _{t0 to} the position of the intruder candidate N _t1 detected after the intruder detection confirmation time The intruder candidate unit time shift angle between the initial movement direction and the intruder candidate unit time moving direction is determined by obtaining the moving direction and the intruder candidate unit time moving direction of each intruder candidate until the intruder detection confirmation time. The intruder candidate N _t1 is detected as an intruder I _t1 in which all the intruder candidate unit time deviation angles up to the intruder detection confirmation time are equal to or less than a preset intruder candidate movement allowable angle ( Steps S36 → S37 in FIG. 15, see FIG. 17). Even apart dropped person 2 is carrying in product 7, the person 2 itself, by the above procedure, as the same intruder I _t2, I _t3 and were first detected intruder I _t1, and continuously detected Yes.

On the other hand, the brought-in item 7 is detected as a new other intruder candidate N _t2 when it is separated from the person 2 who came with it. Since the intruder candidate N _t2 has a short initial movement distance, it is determined that the intruder candidate N _t2 has an initial movement distance less than the initial movement confirmation distance. Then, for the intruder candidate N _t2 whose initial movement distance is less than the initial movement confirmation distance, the position at the time when it was first detected as the intruder candidate N _t2 and the intruder candidate N detected at the time immediately before that time Compared with the position of _t1 (intruder I _t1 ), if the distance between these two positions is within the preset proximity carry-in detection distance, the intruder candidate N _t1 (intruder I _t1 detected in the vicinity) is detected. ) Is detected as a carried-in item 7 brought in, and the carried-in item 7 is detected as another intruder I ′ _t2 (see steps S36 → S38 in FIG. 15, FIG. 17).

  Then, the intruder obtained by the intruder detection unit 18c is output as intruder data together with image data (see step S39 in FIG. 15).

  Thus, in addition to the effects of the intruder detection device shown in the first and second embodiments, the intruder detection device of the present embodiment can detect a carry-in thing that an intruder has brought in or installed. Can do.

  The present invention is applied to an intruder detection device that detects an intruder at a monitoring place, and particularly detects false intruders by suppressing false detection caused by a change in an image due to shaking or the like of a tree. In addition, it is also possible to detect a carry-in thing that an intruder has brought in, installed or dropped.

It is a figure explaining the specific example which detects the person who invades into a monitoring place from the outside as an intrusion. It is a figure explaining the specific example which detects the dangerous substance thrown into the monitoring place from the outside as an intrusion. It is a figure explaining the specific example which misdetects the shaking of the tree in the monitoring place as an intrusion. It is a flowchart explaining the intruder detection method in the intruder detection apparatus which concerns on this invention. It is a block diagram which shows an example of the intrusion detection apparatus which concerns on this invention. It is a block diagram explaining the intruder detection part of the intruder detection apparatus shown in FIG. It is a figure explaining the specific example of the intrusion detection in the intrusion detection apparatus shown in FIG. It is a figure explaining the specific example which misdetects the shake of the shadow of the tree in the monitoring place as an intruder. It is a flowchart explaining another example of the intruder detection method in the intruder detection apparatus which concerns on this invention. It is a block diagram which shows another example of the intrusion detection apparatus which concerns on this invention. It is a block diagram explaining the intruder detection part of the intruder detection apparatus shown in FIG. It is a figure explaining the specific example which detects the person who invades into a monitoring place from the outside as an intrusion. It is a figure explaining not shaking misdetecting the shadow of the tree in the monitoring place as an intruder. It is a figure explaining the specific example of the intrusion detection about the carried-in thing which the intruder brought in the monitoring place from the outside, installed, or dropped. It is a flowchart explaining another example of the intruder detection method in the intruder detection apparatus which concerns on this invention. It is a block diagram which shows another example of the intrusion detection apparatus which concerns on this invention. It is a block diagram explaining the intruder detection part of the intruder detection apparatus shown in FIG.

Explanation of symbols

DESCRIPTION OF SYMBOLS 11 Surveillance camera 12 Image processing part 13 Image input part 14 Storage part 15 Process setting part 16 Image change detection part 17 Intrusion object detection part 18a, 18b, 18c Intrusion object detection part 19 Result output part 21 Detection confirmation time inspection part 22 Initial stage Movement distance inspection unit 23 Intruder determination unit 31 Initial movement direction inspection unit 41 Neighborhood intruder inspection unit 42, 43 Logical sum unit 44 Logical product unit

Claims (3)

In an intruder detection apparatus that has an image pickup means for picking up an image of a monitoring place and an image processing means for performing image processing of image data continuously transmitted from the image pickup means, and detects an intruder in the monitoring place.
The image processing means includes
An image change detection unit that detects a change small region in which an image has changed by comparing background image data of a monitoring location stored in advance and image data transmitted from the imaging unit;
Based on the change small area detected by the image change detection unit, the change small areas adjacent to each other are combined to determine a change detection partial area, and the geometric feature amount of the intruder set in advance and the change are determined. An intruder candidate detection unit that compares the geometric feature amount in the detection partial region and detects the change detection partial region as an intruder candidate when entering a predetermined geometric feature amount range of the intruder;
The intruder candidate detected by the intruder candidate detection unit is inspected whether or not it is continuously detected for a predetermined intrusion detection confirmation time or longer, and continuously for the intruder detection confirmation time or longer. For the intruder candidate to be detected, the initial movement distance from the position of the intruder candidate detected first to the position of the intruder candidate detected after the intruder detection confirmation time is a preset initial movement. An intruder detection apparatus comprising: an intruder detection unit that inspects whether or not the distance is a confirmation distance or more and detects the intruder candidate whose initial movement distance is equal to or greater than the initial movement confirmation distance as an intruder. In an intruder detection apparatus that has an image pickup means for picking up an image of a monitoring place and an image processing means for performing image processing of image data continuously transmitted from the image pickup means, and detects an intruder in the monitoring place.
The image processing means includes
An image change detection unit that detects a change small region in which an image has changed by comparing background image data of a monitoring location stored in advance and image data transmitted from the imaging unit;
Based on the change small area detected by the image change detection unit, the change small areas adjacent to each other are combined to determine a change detection partial area, and the geometric feature amount of the intruder set in advance and the change are determined. An intruder candidate detection unit that compares the geometric feature amount in the detection partial region and detects the change detection partial region as an intruder candidate when entering a predetermined geometric feature amount range of the intruder;
The intruder candidate detected by the intruder candidate detection unit is inspected whether or not it is continuously detected for a predetermined intrusion detection confirmation time or longer, and continuously for the intruder detection confirmation time or longer. For the intruder candidate to be detected, the initial movement distance from the position of the intruder candidate detected first to the position of the intruder candidate detected after the intruder detection confirmation time is a preset initial movement. The intrusion detected after the intruder detection confirmation time from the position of the intruder candidate first detected for the intruder candidate whose initial movement distance is equal to or greater than the initial movement confirmation distance. The initial movement direction to the position of the object candidate is obtained, the intruder candidate unit time movement direction for each unit time of the intruder candidate until the intruder detection confirmation time is obtained, and the initial movement direction The intruder candidate unit time deviation angle formed by the intruder candidate unit time movement direction is obtained, and all of the intruder candidate unit time deviation angles are set in advance until the intruder detection confirmation time. An intruder detection apparatus comprising: an intruder detection unit that detects the following intruder candidates as intruders. The intruder detection device according to claim 2,
The intruder detection unit
For other intruder candidates whose initial movement distance is less than the initial movement confirmation distance, the position at the time when the other intruder candidate is detected and the position immediately before the time when the other intruder candidate is detected. Compared with the position of the intruder candidate detected at the time, and if the two positions are within the preset proximity carry-in detection distance, the other intruder candidate was detected at the previous time An intruder detection apparatus that judges that an intruder candidate has brought in and detects the other intruder candidate as another intruder.

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