KR20120122779A - Monitoring system - Google Patents

Abstract

PURPOSE: A monitoring system is provided to automatically extract an object to be monitored and to classify the kind of the object by extracting topographical information through a monitoring image of a first monitoring part and a second monitoring part. CONSTITUTION: A monitoring system comprises a first monitoring part(MFP), a second monitoring part(PTZ), a topographical map creating part(10), an object data generating part(20), and a controller(30). The topographical map creating part creates a topographical map in around the first monitoring part and the second monitoring part using a first monitoring image and a second monitoring image. The object data generating part generates object information using the location of an object according to the topographical map when the object is acknowledged through the first monitoring image. The controller controls object monitoring of the second monitor part using the topographical map and the topographical map and. [Reference numerals] (10) Topographical map creating part; (20) Object data generating part; (30) Controller; (40) Object type sorting part; (AA,CC,DD,EE) Second monitoring part; (BB) First monitoring part

Description

Surveillance System {MONITORING SYSTEM}

The present invention relates to a surveillance system, and more particularly, to produce a three-dimensional topographic map by extracting the surrounding topographic information through the surveillance image of the first monitoring unit and the second monitoring unit, through which effective security, monitoring and tracking is achieved. It is possible to distinguish the types of objects through the surveillance images of the first monitoring unit and the second monitoring unit, and to determine whether to monitor according to the type of the separated objects, as well as to automatically monitor and monitor the monitoring objects. It relates to a surveillance system.

Surveillance systems that track moving objects for security, security, or surveillance in urban residential, commercial or rural housing complexes are becoming commonplace.

In general, a tracking technology for a moving object has a number of application areas such as security and surveillance systems, visual processing of intelligent robots, and user interfaces, and various methods of camera devices are used for realization thereof.

One of such moving object tracking methods is a technique of detecting and detecting a target through an image of a predetermined area by using one or more fixed camera devices.

In addition, during a moving object tracking method, a camera device capable of rotating zoom, that is, PTZ (Pan / Tilt / Zoom) control in a security and surveillance system, is used to acquire and analyze an image in a desired area by manually controlling the camera device at a remote location. Techniques for detecting targets are used.

In addition, recently, as a moving object tracking method, using a camera device equipped with a telephoto lens and a wide-angle lens at the same time, the position of the target from the image taken through the wide-angle lens in a fixed area A technique for predicting and acquiring and analyzing a target image at a predicted position through a telephoto lens is used.

However, these conventional moving object tracking methods lack flexibility in mutual cooperation between camera devices for efficiently tracking moving objects, and thus do not provide effective performance for high speed camera control and moving object tracking systems. There was a problem that can not effectively use the advantages of the rotation zoom camera.

The present invention is to solve and solve the problems caused by the conventional monitoring system as described above,

An object of the present invention is to provide a surveillance system to extract the topographic information of the surroundings through the surveillance image of the first surveillance unit and the second surveillance unit to produce a three-dimensional topographic map, through which effective security, surveillance and tracking can be achieved. There is.

Another object of the present invention is to provide a surveillance system that can distinguish the type of object through the surveillance image of the first monitoring unit and the second monitoring unit, and determine whether to monitor according to the type of the divided object.

Still another object of the present invention is to provide a surveillance system capable of automatically tracking and monitoring a surveillance object.

According to the present invention for achieving the above object, a monitoring system comprising: a first monitoring unit; A second monitoring unit for monitoring a specific area; A topographic map creation unit for creating a topographical map around the first monitoring unit and the second monitoring unit by using the first surveillance image by the first surveillance unit and the second surveillance image by the second surveillance unit; An object information generation unit configured to generate object information by using the information of the object and the position of the object according to the topographical map when the object is recognized through the first surveillance image; And a controller configured to control the second monitor to monitor the object using the topographic map and the object information. It provides a surveillance system comprising a.

The first monitoring unit may be configured to be any one of a fisheye lens camera, an ultra wide-angle lens camera, and a rotation zoom camera.

One or more of the topographic map creation unit, the object information generation unit, and the control unit may be configured to be installed in the first monitoring unit.

The second monitoring unit may be configured to be a rotation zoom camera.

The topographic map creation unit generates topographic information by extracting a distance on the horizontal line between the point where the first monitoring unit is located and the point where the second monitoring unit is located, the height difference of the terrain, and the slope of the terrain, and generates the topographic information by three-dimensional graphics. It can be configured to create a topographic map.

When the object is recognized in the first surveillance image and the object is not recognized in the second surveillance image, the controller causes the second surveillance unit to track the object, and generates object information of the object when the object is recognized in the second surveillance image. The distance on the horizontal line, the height difference of the terrain, and the slope of the terrain between the point where the object is recognized and the point where one or more of the first monitoring unit, the second monitoring unit, or two or more points are located are extracted and reflected on the topographic map. Can be configured to control.

The second monitoring unit may be configured to track the object, that is, the surveillance object using the topographic map.

The controller extracts the actual height of the object at the point where the object is recognized and the virtual height of the object at the point where the object is not recognized, and uses the actual height of the object and the virtual height of the object to locate the object. And extract the distance on the horizontal line, the height difference of the terrain, and the slope of the terrain between the point where the object is actually located and one or two of the first monitoring unit and the second monitoring unit to reflect the terrain information. have.

Designate one or more singular points around either or both of the first and second monitors, and a horizontal line between the singular point and the point at which one or both of the first and second monitors are located. It may be configured to extract the phase distance, the height difference of the terrain and the slope of the terrain to reflect the terrain information.

Meanwhile, according to the present invention, there is provided a monitoring system comprising: a first monitoring unit; A second monitoring unit for monitoring a specific area; An object information generation unit for generating object information using the width and height information of the object when the object is recognized through the first surveillance image by the first monitoring unit; And an object type classification unit for classifying an object type through object information. And a control unit which determines whether to monitor the object according to the type of the object classified by the object type classification unit, and controls the second monitoring unit to monitor the object by using the object information when the determination result is to monitor the object. It provides a surveillance system comprising a.

A topographic map creation unit for creating a topographic map around the first monitoring unit and the second monitoring unit by using the first surveillance image and the second surveillance image by the second surveillance unit, and the object information includes position information of the object according to the terrain map. The controller may be configured to use a topographic map and object information including location information of the object when the object is to be monitored.

The topographic map creation unit generates topographic information by extracting a distance on the horizontal line between the point where the first monitoring unit is located and the point where the second monitoring unit is located, the height difference of the terrain, and the slope of the terrain, and generates the topographic information by three-dimensional graphics. It can be configured to create a topographic map.

When the object is recognized in the first surveillance image and the object is not recognized in the second surveillance image, the controller causes the second surveillance unit to track the object, and generates object information of the object when the object is recognized in the second surveillance image. The distance on the horizontal line, the height difference of the terrain, and the slope of the terrain between the point where the object is recognized and the first monitoring unit, the second monitoring unit, or any one or more of the points are located, and the slope of the terrain is extracted. It can be configured to reflect.

The second monitoring unit may be configured to track the object using the topographic map.

The controller calculates the actual height of the object at the point where the object is recognized to extract the virtual height of the object at the point where the object is not recognized, and uses the actual height of the object and the virtual height of the object to actually position the object. It extracts the point where the object was actually located, and extracts the distance on the horizontal line between the point where the object is actually located, one or both of the first monitoring unit and the second monitoring unit, the height difference of the terrain, and the slope of the terrain to reflect the terrain information. Can be.

Designate one or more singular points around either or both of the first and second monitors, and a horizontal line between the singular point and the point at which one or both of the first and second monitors are located. It may be configured to extract the phase distance, the height difference of the terrain and the slope of the terrain to reflect the terrain information.

The first monitoring unit may be configured to be any one of a fisheye lens camera, an ultra wide-angle lens camera, and a rotation zoom camera.

The second monitoring unit may be configured to be a rotation zoom camera.

One or more of the topographic map creation unit, the object information generation unit, and the control unit may be configured to be installed in the first monitoring unit.

According to the monitoring system according to the present invention, by extracting the surrounding topographic information through the surveillance image of the first and second monitoring unit to produce a three-dimensional topographic map, through which the effective security, monitoring and tracking effect can be achieved There is.

In addition, the present invention has the effect of distinguishing the type of object through the surveillance image of the first monitoring unit and the second monitoring unit, it is possible to determine whether to monitor according to the type of the divided object.

In addition, the present invention has the effect that can be monitored by automatically monitoring the surveillance.

1A to 1D are schematic configuration diagrams of a monitoring system according to the first to fourth embodiments of the present invention.
2 and 3 is a view showing the characteristics of the lens used in the first monitoring unit of the monitoring system according to the present invention.
4 to 10 are diagrams showing a state of setting a monitoring system according to the present invention.
11 and 12 are diagrams showing a state in which the monitoring object is divided by the monitoring system according to the present invention.
13 and 14 are views illustrating a state in which the second monitoring unit used in the monitoring system according to the present invention operates to monitor the monitoring object.
15 and 16 are diagrams illustrating a state in which the terrain information is calculated in order to correct the topographic map when tracking of the surveillance object by the monitoring system according to the present invention fails.

Hereinafter, with reference to the drawings will be described in detail. However, these drawings are for illustrative purposes only and the present invention is not limited thereto.

1A to 1D are schematic configuration diagrams of a monitoring system according to the first to fourth embodiments of the present invention.

First, the diagram shown in (a) of FIG. 1 shows a first embodiment of a monitoring system, and the monitoring system according to the first embodiment of the present invention largely includes a first monitoring unit MFP and a second monitoring unit ( PTZ), the topographic map creation unit 10, the object information generation unit 20 and the control unit 30, the first monitoring unit (MFP) is to control the second monitoring unit (PTZ).

The first monitoring unit MFP is a component that monitors a monitoring area and recognizes an object, that is, a monitoring object in the monitoring area, and is installed in the air to some extent from the ground for smooth monitoring. The object is an object that the first monitoring unit MFP can recognize a movement, and may correspond to a person or a vehicle, and is photographed by the first monitoring unit MFP to recognize the object. It may be configured to recognize the appearance of the object by comparing the front and rear frames of the first surveillance image to be. The first monitoring unit MFP may use any one of a fisheye lens camera, an ultra wide-angle lens camera, and a rotation zoom camera. In the present specification, the first monitoring unit MFP uses a fisheye lens camera capable of monitoring a large area. This will be described using an example.

The second monitoring unit PTZ is a component capable of intensively monitoring a narrow area compared to the first monitoring unit MFP that monitors a large area. Like the first monitoring unit MFP, the second monitoring unit PTZ is installed in the air to some extent from the ground surface. Various cameras may be used as the second monitoring unit PTZ, but in the present invention, for example, a PTZ camera having a pan, tilt, and zoom function may be used. Explain.

The topographic map creation unit 10 uses the first monitoring image by the first monitoring unit MFP and the second monitoring image captured by the second monitoring unit PTZ to monitor the first monitoring unit MFP and the second. It is a component that creates a topographic map by mapping the terrain according to the height difference around the monitoring unit (PTZ).

For this purpose, a point located vertically downward from the first monitoring unit MFP (hereinafter, referred to as a point at which the first monitoring unit MFP is located) and a point located vertically downward from the second monitoring unit PTZ. (Hereinafter referred to as "the point where the second monitoring unit (PTZ) is located"), the topographical map by extracting the distance on the horizontal line, the height difference of the terrain and the slope of the terrain to generate the topographic map You will write Here, in order to create a topographic map that reflects more real terrain, one or more singular points P are specified around one or two of the first monitoring unit MFP and the second monitoring unit PTZ, The distance on the horizontal line between the point P, the first monitoring unit MFP, and the second monitoring unit PTZ, or the point where the two monitoring units are located may be extracted and reflected in the terrain information. . In this case, it is also possible to extract and use the inclination of the terrain between the point where any one or two of the singular point (P), the first monitoring unit (MFP), the second monitoring unit (PTZ) is located.

When the object is recognized through the first surveillance image, the object information generation unit 20 may locate the object according to the information of the recognized object and the topographic map created by the topographic map creation unit 10. It is a component that creates object information including. The information of the object may include the width and height of the object.

The controller 30 is a component that controls the second monitoring unit PTZ to monitor the object using the topographic map and the object information.

In addition, the monitoring system according to the second embodiment of the present invention shown in FIG. 1B is configured similarly to the above-described first embodiment, but the first monitoring unit MFP is configured as the second monitoring unit PTZ. Unlike the first embodiment to control the control unit 10, the object information generating unit 20 and the control unit 30, a separate configuration, for example, the first monitoring unit (MFP) and the first control unit in the control room 2 is configured to control the monitoring unit (PTZ).

As described above, in the monitoring system according to the present invention, subjects controlling the second monitoring unit PTZ may vary according to where components, in particular, the control unit 30 is located, and the topographic drawing unit 10 monitors the first. The MFP may be installed, or the object information generator 20 may be installed in the first monitor MFP, and both the topographic creation unit 10 and the object information generator 20 may be installed in the first monitor. MFP) may be installed.

FIG. 1C is a schematic configuration diagram of a monitoring system according to a third embodiment of the present invention, similarly to the first embodiment, but instead of the topographic mapper 10 in the first monitoring unit MFP. It is distinguished in that it includes the kind classification unit 40. In this case, since the first monitoring unit MFP, the second monitoring unit PTZ, the object information generating unit 20 and the control unit 30 have been described in detail in the description of the first embodiment of the present invention, the first monitoring unit is described in detail herein. The object type classification unit 40, which does not appear in the embodiment, will be described in detail.

The object type classification unit 40 is a component for classifying object types through object information, in particular, the width and height of the object. Typically, the objects that a surveillance system typically tracks are people or vehicles. Thus, information on an average body shape and height of a person, an approximate vehicle width, and an information about an over-all height are stored in advance. Accordingly, by calculating the width and height of the object recognized by the first surveillance image and comparing it with previously stored information, the type of the recognized object, that is, whether it is a person or a vehicle, and whether it is a large vehicle or a small vehicle. Etc. can be judged. As previously stored information, information about various kinds may be used according to which object the monitoring system of the present invention intends to monitor. For example, if you want to check the number of wild animals, the information about the width and height of the wild animals is stored in advance, and the width and height of the object recognized by the first surveillance image are wild. It can be identified by matching with the animal. At this time, the information previously stored in order to distinguish the type of the object (Object) may be stored in the object type classification unit 40, a separate configuration connected to the object type classification unit 40, for example, storage It may be stored in a portion (not shown).

At this time, the control unit 30 used in the monitoring system according to the third embodiment of the present invention determines whether to monitor the object (Object) according to the type of the object (Object) divided by the object type classification unit 40 As a result of the determination, when the object is to be monitored, the second monitoring unit PTZ is controlled to monitor the object using the object information.

On the other hand, the monitoring system according to the fourth embodiment of the present invention shown in (d) of FIG. 1 is configured similarly to the third embodiment described above, but the various components mentioned above, that is, the topographic drawing section 10, The object information generation unit 20, the control unit 30 and the object type classification unit 40 is different from the other embodiments in that it is included in the first monitoring unit (MFP).

Herein, in the case of the monitoring system according to the third and fourth embodiments of the present invention, the first monitoring unit MFP is shown to control the second monitoring unit PTZ similarly to the first embodiment. As in the second embodiment, the control room may be configured to control the first monitoring unit MFP and the second monitoring unit PTZ.

On the other hand, the first monitoring unit (MFP) and the second monitoring unit (PTZ), the topographic map creation unit 10, the object information generation unit 20, constituting the monitoring system according to the first to fourth embodiments of the present invention, The control unit 30 and the object type classification unit 40 are connected to a network. The network may use a wired or wireless Internet network, an intranet, a telephone network, a satellite communication network, or a combination of two or more or similar networks. The wired network is preferably configured through an optical cable, and the wireless network may be configured through ultra wideband (UWB), Wi-Fi, or Wibro.

In addition to the monitoring system according to the first to fourth embodiments of the present invention, various components, for example, the first monitoring unit (MFP) and the second monitoring unit (PTZ), the topographic map creation unit 10, object information generation The unit 20, the control unit 30 and the object type classification unit 40 may be configured to include a connection device, a database, a module, etc. to be connected to the network, but it is configured to help the understanding of the present invention In addition to the main components, descriptions of general components already known and used will be omitted.

Hereinafter, a description will be given taking the use of the monitoring system according to the fourth embodiment of the present invention shown in FIG.

2 and 3 are views showing the characteristics of the lens used in the first monitoring unit (MFP) of the monitoring system according to the present invention.

The first surveillance unit (MFP) used in the present invention, that is, a lens that is easy to interpret an image (first surveillance image) photographed by a fisheye lens camera, may include a fisheye lens having the characteristics of equidistance projection. have.

As shown in FIG. 2, the focal length of the lens is referred to as "F", and the angle (angle of view) (Angle of view) that forms an image so that the camera can capture an image through the lens is referred to as "θ". This is because when the height to be formed is "Y", it can be obtained by using a simple formula of "Y = Fθ", and the fisheye lens mentioned below uses a fisheye lens having such an equidistant projection characteristic. it means.

In addition, FIG. 3 is a diagram illustrating a criterion necessary for analyzing an image of a fisheye lens camera used in the present invention, that is, a first surveillance image. In the present invention, the present invention always approaches the following criteria when interpreting a first surveillance image. .

First, the center of the first surveillance image corresponds to the origin of the polar coordinate system.

Second, the angle F ° corresponding to the circumference of the first surveillance image is 1/2 of the angle of view of the fisheye lens.

Third, the distance T from the center of the first surveillance image to the circumference corresponds to F °.

Fourth, the distance (L) from the first surveillance image to the object can be easily converted into an angle (Object °) between the origin and the object by the following equation (1).

4 to 10 are diagrams showing a state of setting a monitoring system according to the present invention.

First, Figure 4 (a) is a ground surface vertically downward from the first monitoring unit (MFP) by placing a specific mark at a point away from the first monitoring unit (MFP) to set the monitoring system according to the present invention Distance (MFPH; hereinafter referred to as "height of the first monitoring unit (MFP)") is a state that is measured, Figure 4 (b) is a point where a specific mark is located in the first monitoring unit (MFP) It shows the state appearing in the first surveillance image.

In this case, the distance L between the point where the first monitoring unit MFP is located and the point where the specific mark is located may be arranged to be separated by a predetermined distance, for example, 1 m or 2 m. In addition, the rod having a predetermined length may be laid on the ground surface at a predetermined distance from the point where the first monitoring unit MFP is located, and the rod to the end of the rod may be easily known.

That is, since the distance L between the point where the first monitoring unit MFP is located and the point where the specific mark is located is recognized, the origin and the specific mark are located in the first surveillance image by Equation 1 described above. You can convert it to an angle between points (Object °).

Therefore, a virtual right triangle shape is formed between the point where the first monitoring unit MFP and the first monitoring unit MFP are located, and the point where a specific mark is located, and the first monitoring unit MFP is located. Distance (L) between the point where the specific mark is located and the point where the specific mark is located, and the angle (Object °) between the origin and the point where the specific mark is located in the first surveillance image, that is, the first monitoring unit (MFP) is located. Since the angle of looking at the point is known, the height MFPH of the first monitoring unit MFP can be obtained using Equation 2 below.

In this manner, the height MFPH of the first monitoring unit MFP may be calculated using a specific mark, and in addition, the operator may actually measure and obtain the height MFPH.

FIG. 5 is a distance from the second monitoring unit PTZ to the ground surface vertically from the second monitoring unit PTZ by placing a specific mark at a point away from the second monitoring unit PTZ to set up the monitoring system according to the present invention as shown in FIG. 4. (PTZH; hereafter referred to as "the height of the second monitoring unit PTZ") is shown.

This process is similar to the case of the first monitoring unit (MFP). First, the second monitoring unit (PTZ) looks at the point where the second monitoring unit (PTZ) is located, and then the point where the specific mark is located. To look at it.

Accordingly, the angle of rotation (Object °) can be extracted so that the point where the specific mark is located in the center of the second surveillance image by the second surveillance unit PTZ is extracted, so that the second surveillance unit PTZ is positioned. The height PTZH of the second monitoring unit PTZ can be obtained by using Equation 3 similar to Equation 2 using the distance L between the point where the specific mark is located and the point where the specific mark is located.

As in the first monitoring unit MFP, the height PTZH of the second monitoring unit PTZ can be measured and obtained by an operator.

FIG. 6 shows a position where the second monitoring unit PTZ is located in the first surveillance image.

In this case, the “MFPF °” displayed in the first surveillance image shown is an angle of looking at a point where the second surveillance unit PTZ is positioned through the first surveillance unit MFP, and is described in the above description of FIG. 3. Like Equation 1, it can be represented by the following Equation 4.

4 to 6 illustrate a case where the first monitoring unit MFP, the second monitoring unit PTZ, and a specific mark are located at the same height, that is, on the same horizontal line without height difference on the terrain. In fact, when installing the monitoring system according to the present invention, there may occur a topographic height difference between the first monitoring unit (MFP) and the second monitoring unit (PTZ).

Therefore, FIG. 7 illustrates a terrain between a point where the first monitor MFP is located and a point where the second monitor PTZ is located according to a region where the first monitor MFP and the second monitor PTZ are installed. It is shown that the height difference (C) and the distance (D) on the horizon and the slope of the terrain (PTZC °, MFPC °) are calculated. In this case, in FIG. 7, the point where the first monitoring unit MFP is located is higher than the point where the second monitoring unit PTZ is located, but according to a region, the first monitoring unit MFP may have a second position. It may be installed at a lower position than the monitoring unit PTZ.

First, the angle MFPF ° of looking at the point where the second monitoring unit PTZ is located through the first monitoring unit MFP may be calculated using Equation 4 described in FIG. 6.

In addition, an angle PTZR ° of looking at a point at which the first monitoring unit MFP is located is obtained through the second monitoring unit PTZ. The same is true except that MFP) is used. That is, the second monitoring unit (PTZ) to look at the point where the second monitoring unit (PTZ) is located after extracting the angle to rotate to look at the point where the first monitoring unit (MFP) is located by the second Through the monitoring unit PTZ, the angle PTZR ° of looking at the point where the first monitoring unit MFP is located may be calculated.

A virtual line looking at the point where the second monitoring unit PTZ is located through the first monitoring unit MFP and a point at which the first monitoring unit MFP is located through the second monitoring unit PTZ are located. With the virtual intersection point at which the virtual line viewed intersect, the distance A from the first monitoring unit MFP to the virtual intersection point is obtained using Equation 5 below. At this time, the height MFPH of the first monitoring unit MFP is obtained by Equation 2 described in the above description of FIG. 4.

Similarly, the distance B from the second monitoring unit PTZ to the virtual intersection point is obtained using Equation 6 below, and the height PTZH of the second monitoring unit PTZ is described in the description of FIG. 5. It is obtained by the following equation.

Using the MFPF °, PTZR °, A and B obtained through this process, the height difference (C) of the terrain between the point where the first monitoring unit (MFP) is located and the point where the second monitoring unit (PTZ) is located is Can be obtained by the following equation.

Next, the distance when the first monitoring unit MFP and the second monitoring unit PTZ are located at the same height, that is, the point where the first monitoring unit MFP is located and the second monitoring unit PTZ are located. The distance D on the horizontal line between the points where is located is obtained by the following equation (8).

The slopes PTZC ° and MFPC ° of the terrain between the point where the first monitoring unit MFP is located and the point where the second monitoring unit PTZ is located can be obtained by Equations 9 and 10.

8A to 8C illustrate a first monitoring unit MFP and a plurality of second monitoring units PTZ-1, PTZ-2, PTZ-3, and PTZ-4 using the topographic mapper 10. ) Shows the state of creating a topographic map around it.

FIG. 8A illustrates a position where the first monitoring unit MFP is located and a plurality of second monitoring units PTZ-1 and PTZ- in the first surveillance image by the first monitoring unit MFP as shown in FIG. 6. 2, PTZ-3, PTZ-4) shows the position where the location appears. The number of the second monitoring units PTZ-1, PTZ-2, PTZ-3, PTZ-4 can be added or subtracted according to the environment or installation cost of the monitoring area.

In this state, the height MFPH of the first monitoring unit MFP and the second monitoring units PTZ-1, PTZ-2, PTZ-3, and PTZ-4, respectively, as described in FIGS. 4 and 5. The height PTZH is obtained, and the points where the second monitoring units PTZ-1, PTZ-2, PTZ-3, and PTZ-4 are located through the first monitoring unit MFP as described in FIGS. 6 and 7 are described. Angle of view (MFPF °), angle of view of the point where the first monitoring unit (MFP) is located through the second monitoring unit (PTZ-1, PTZ-2, PTZ-3, PTZ-4) ), The distance from the first monitoring unit (MFP) to the virtual intersection point (A), the distance from the second monitoring unit (PTZ-1, PTZ-2, PTZ-3, PTZ-4) to the virtual intersection point (B) ), The height difference of the terrain (C) between the point where the first monitoring unit (MFP) is located and the point where the second monitoring unit (PTZ-1, PTZ-2, PTZ-3, PTZ-4) is located, on the horizontal line The terrain information can be generated by obtaining the distance D and the slope of the terrain (PTZC °, MFPC °).

8 (b) and (c) show that a topographic map is created using the topographic information generated as described above. That is, the height difference (C) of the terrain for each of the first monitoring unit (MFP) and the plurality of second monitoring units (PTZ-1, PTZ-2, PTZ-3, PTZ-4), the distance (D) on the horizontal line According to the three-dimensional graphics, the first monitoring unit (MFP) and the plurality of second monitoring units (PTZ-1, PTZ-2, PTZ-3) around the point where the first monitoring unit (MFP) is located , PTZ-4) Organize by connecting the points where the second monitoring units (PTZ-1, PTZ-2, PTZ-3, PTZ-4) are located according to the slope (PTZC °, MFPC °) of each terrain. This allows the creation of a virtual topographical map that can determine in three dimensions the approximate elevation of the terrain around the first monitoring unit (MFP) and the second monitoring unit (PTZ-1, PTZ-2, PTZ-3, PTZ-4). Will be.

9 and 10 (a) and (b) show that a topographic map reflecting a more real terrain is prepared as compared to the topographic map created as described in FIG. 8.

For this purpose, a specific mark is positioned at a specific point P as used in FIG. 4 or FIG. 5 around one or two of the first monitoring unit MFP and the second monitoring unit PTZ. Here, the difference from positioning the specific mark in the description of FIG. 4 and FIG. 5 is that, in FIG. 4 or FIG. 5, the point at which the specific mark is located is disposed apart by a predetermined distance from the operator, and the first monitoring unit (MFP). ) And the distance to the singular point (P) where a specific mark is located is not known, and the singular point (P) where the specific mark is located is compared to the virtual line connecting the second monitoring unit (PTZ). ) May not be located on an imaginary line connecting the first monitoring unit MFP and the second monitoring unit PTZ. That is, the specific marker is positioned at the singular point P which is separated by a distance enough to recognize the specific marker in the first surveillance image, and the singular point P where the specific marker is located is the first monitoring unit MFP. ) Or a region in which unusual terrain is formed, such as a slope or a protruding terrain formed around the second monitoring unit PTZ. Therefore, in the description of FIGS. 4 and 5, only one angle of “MFPF °” and “PTZR °” is displayed for the first monitoring unit MFP or the second monitoring unit PTZ to look at the point where a specific mark is located. In this case, the first monitoring unit (MFP) or the second monitoring unit (PTZ) has two angles required to look at the singular point (P) where a specific mark is located, for example, the angle in the vertical direction and the left and right angles Will be needed.

In other words, in FIG. 9, the angle (PTZVER °), ie, the up-down (tilt; Tilt) direction of looking at the singular point P at which the specific mark is located through the second monitoring unit PTZ, is determined by the second monitoring unit (PTZ). PTZ) to look at the point where the second monitoring unit (PTZ) is located, and then extract the angle of rotation to look at the singular point where a specific mark is located, and obtain it through the second monitoring unit (PTZ). Based on the point of view of the first monitoring unit (MFP), the angle of rotation (PTZHOR °) in the left and right (pan) direction can be obtained by extracting the angle of rotation to look at the singular point (P) where the specific mark is located. have.

In addition, the up-down angle (MFPVER °) looking at the singular point (P) where the specific mark is located through the first monitoring unit (MFP) can be obtained through Equation 4, and the first monitoring unit (MFP) The left and right angles MFPVER ° may be obtained by extracting a rotation angle on the polar coordinate system from the origin of the first surveillance image by the first monitoring unit MFP to the singular point P where the specific mark is located.

Next, the height of the point where the first monitoring unit MFP is located on the topographical map created as described in FIG. 8, of the first monitoring unit MFP calculated using Equation 2 described in the description of FIG. 4. Add height MFPH to set "MFPRH" and set "PTZRH" in the same way.

The distance D on the horizontal line between the point where the first monitoring unit MFP is located and the point where the second monitoring unit PTZ is located is calculated by Equation 8 in the description of FIG. 7.

Accordingly, a virtual triangular shape is formed between the first monitoring unit MFP, the singular point P where the specific mark is located, and the second monitoring unit PTZ, and the first monitoring unit MFP is The angle D in the horizontal direction between the position D and the position where the second monitoring unit PTZ is located and the distance D on the horizontal line and the singular point P where the specific mark is located in the first monitoring unit MFP ( MFPVER °) and the second monitoring unit (PTZ) knows the angle (PTZHOR °) in the left and right (pan) direction for looking at the singular point (P) where the specific mark is located, so that the second monitoring unit (PTZ) The distance E between the singular point P at which the mark is located and the distance F between the second monitoring unit PTZ and the singular point P at which the specific mark are located are shown in Equations 11 and 12 below. Can be obtained by

In addition, a virtual right triangle is formed between the first monitoring unit MFP, the singular point P at which the specific mark is located, and the direction of looking downward from the first monitoring unit MFP, and the second A virtual right triangle is also formed between the monitoring unit PTZ, the singular point P where the specific mark is located, and the direction looking downward from the second monitoring unit PTZ.

According to Equations 11 and 12, the distance E between the first monitoring unit MFP and the singular point P at which the specific mark is located, and the singular point P at which the second monitoring unit PTZ and the specific mark are located The distance F between the first and second monitoring units MFPVER ° and the second monitoring unit PTZ in which the first monitoring unit MFP faces the singular point P where the specific marking is located are calculated. Since the vertical direction (PTZVER °) looking at the singular point where is located is known, "STMFPH" and "STPTZH" can be obtained through the following equations (13) and (14).

That is, when "STMFPH" and "STPTZH" are obtained, the first monitoring unit is operated by calculating an expression such as "STH = MFPRH-STMFPH" or "STH = PTZRH-STPTZH" using the preset "MFPRH" and "PTZRH". The height difference (STH) of the terrain between the point where the MFP or the second monitoring unit PTZ is located and the singular point P where the specific mark is located can be obtained.

The various types of information thus calculated are reflected in the terrain information as shown in FIGS. 10A to 10C to create a more realistic topographical map.

FIG. 10A illustrates a point where a plurality of second monitoring units PTZ-1, PTZ-2, PTZ-3, and PTZ-4 are located in a first surveillance image and a singular point where a plurality of specific marks are located ( P-1, P-2 and P-3) are shown, respectively. The number of singular points (P-1, P-2, P-3) in which the specific label is located may be added or subtracted according to circumstances.

And, as described in FIG. 9, using the various information calculated by applying the respective second monitoring unit (PTZ-1, PTZ-2, PTZ-3, PTZ-4) of Figure 10 (b) and (c) As shown in), the point where the first monitoring unit (MFP) is located and the point where the plurality of second monitoring units (PTZ-1, PTZ-2, PTZ-3, PTZ-4) are located, a plurality of singularities Three-dimensional graphics of the elevation difference (C) of the terrain and the distance (D) on the horizon and, optionally, the slope of the terrain (PTZC °, MFPC °) for each of the points (P-1, P-2, P-3) The first monitoring unit (MFP) and the plurality of second monitoring units (PTZ-1, PTZ-2, PTZ-3, PTZ-4) around the point where the first monitoring unit (MFP) is located; By connecting and arranging the points where each of the plurality of singular points (P-1, P-2, P-3) are located, a virtual topographical map reflecting more real terrain is created.

11 and 12 measure the width and height of the recognized object when the object is recognized through the first surveillance image by the first monitoring unit MFP, and through this, the object. This is to distinguish between the types of objects to indicate whether the object is a tracking object or not.

First, in FIG. 11, when the object, for example, a person and a vehicle, is recognized in the first surveillance image, the width of the object is calculated.

That is, in order to measure the width of the recognized object, the one end and the other end of the object are set to an arbitrary point in consideration of the height difference on the topographic map created by the topographic map creation unit 10, and the first monitoring. The distance G between the origin of the image and one end of the object, the distance H between the origin of the first surveillance image and the other end of the object, and one end and the other end of the object. The angle θ between them is calculated.

Therefore, a virtual triangular shape is formed between the first monitoring unit MFP, one end of the object, and the other end of the object, and the width of the object is expressed using Equation 15 below. (I) is calculated.

In FIG. 12, the height OH of the object recognized in the first surveillance image is calculated. At this time, the height of the object is basically obtained by counting the size occupied by the object in the first surveillance image, that is, the number of pixels occupied by the object along the direction away from the origin of the first surveillance image. However, since the height of the actual object may vary depending on how far the object is from the first surveillance image and the shape of the terrain at which the object is located, the distance and the terrain are considered. To calculate the height of the object.

To this end, the first monitoring unit MFP extracts the lowest angle OBA ° and the highest angle OHA ° for viewing the object from the first surveillance image.

Then, by applying the height difference on the topographic map created by the topographic map creation unit 10 to obtain the height (OBH) of the terrain between the point where the object (Object) is located and the reference point. At this time, it is preferable to use a point which is located at the lowest position on the topographic map as a reference point, and depending on the situation, the point where the first monitoring unit MFP or the second monitoring unit PTZ is located or when the topographic map is created When using a point P to create a topographic map that reflects more real terrain, the singular point P may be set as a reference point.

The first monitoring unit obtains the distance OD on the horizontal line between the point where the first monitoring unit MFP is located and the point where the object is located, and reflects the elevation difference of the topographical map as described in FIG. 9. When the height MFPRH of the MFP is obtained, the distance ORD on the horizontal line between the points where the object is located can be calculated from the first monitoring unit MFP as shown in Equation 16 below.

By using the calculated "ORD" and known information, the height OH of the object can be obtained by the following equation (17).

Through the width (I) and height (OH) value of the object calculated in this way, it is possible to check some characteristics of the object recognized through the first surveillance image, and whether the object is a tracking object or not. It can be useful in various ways, such as checking whether an object is correct when pausing and tracing again.

For example, snow or wind can blow leaves on areas monitored by the surveillance system according to the invention, insects can fly, or animals can pass.

In this case, tracking all objects recognized through the first surveillance image is a huge waste, and it may occur that the tracking of the objects to be tracked is not possible.

Accordingly, in the surveillance system according to the present invention, the object recognized through the first surveillance image through the object type classification unit 40 in which information on the width and height according to the type of the object is stored in advance. Will be distinguished. In other words, it is possible to calculate the actual width and height of the object using the topographic map, and compare it with previously stored information to determine what the recognized object is.

In addition, when the type of the recognized object is classified according to the setting, it is possible to set which part of the object is to be photographed with the center of the second surveillance image. For example, if the recognized object is a human, shoot with a bust shot so that the face of the person can be identified by photographing the upper part of the human chest using the average height of the person, or the recognized object ( If the object is a vehicle, the average height of the vehicle can be set to an angle that can be photographed by placing the license plate of a person or vehicle in the vehicle at the center of the second surveillance image. This setting sets the monitoring height minus a certain height from the end of the head to the face by the approximate size of the human face, which is calculated so that the face can be easily seen if the recognized object is a human. It can be set in various ways. On the other hand, according to the type of the object (Object) to determine what part to shoot in the center of the second surveillance image, that is, the setting for the monitoring height may be stored in the object type classification unit 40 or the controller 30. It may be stored in a separate component connected to the network.

As such, the type of the object recognized by the first surveillance image may be primarily classified through the object type classification unit 40 to increase the monitoring efficiency, and the second surveillance unit PTZ may be secondarily. By monitoring through this, it is possible to check whether the object to be monitored is correct and at the same time, the actual monitoring of the object can be performed.

13 and 14 illustrate that an object is recognized through a first surveillance image, and when the recognized object is an object to be monitored, the second monitoring unit PTZ monitors the object. It shows the state to operate.

13A and 13B are the same as those shown in FIGS. 10A and 10C, and in FIG. 13A, the object is recognized in the first surveillance image. Is shown.

Accordingly, the coordinates of the recognized object may be calculated, and the coordinates of the object calculated on the topographic map created by the topographic map creation unit 10 are substituted for the object on the topographic map as shown in FIG. You can extract the point where (Object) is located.

In this state, the second monitoring unit PTZ operates in FIG. 14 to track the recognized object.

In this case, as described in FIGS. 9 and 12, the rotation angle on the polar coordinate system is extracted from the origin of the first surveillance image to the point where the object is located, and thus the angle MFPHTA ° in the left and right directions of the first monitoring unit MFP. ), The height (MFPRH) of the first monitoring unit (MFP) reflecting the elevation difference of the topographical map, the height (PTZRH) of the second monitoring unit (PTZ) reflecting the elevation difference of the topographic map, and the height of the elevation on the topographic map are applied. Height (OBH) between the reference point and the reference point, and the lowest angle (OBA °) and the highest angle (OHA °) for the first monitoring unit (MFP) to see the object in the first surveillance image. Can be extracted. In this case, when the storage unit is used as described above, it is possible to determine whether the recognized object is a person or whether it should be tracked. It is possible to load and use the monitoring height (OTP) by subtracting a certain height from the highest height of the object so that it can be placed in the center and shoot.

As such, a virtual right triangle is formed between the point where the first monitoring unit MFP and the object are located and the direction of looking downward from the first monitoring unit MFP. ) And the distance MFPOD on the horizontal line between the object is calculated by the following equation (18).

On the other hand, a virtual triangular shape is formed between the position where the object is located, the direction looking downward from the first monitoring unit (MFP), and the direction looking downward from the second monitoring unit (PTZ). At this time, since the distance D on the horizontal line between the first monitoring unit MFP and the second monitoring unit PTZ is determined, the distance PTZOD on the horizontal line between the second monitoring unit PTZ and the object is determined. It is calculated by the following equation (19).

The left and right angles PTZPA ° of which the second monitor PTZ should rotate to look at the point where the object is located are the point where the object is located and the first monitor MFP. It can be obtained through the following equation (20) using a virtual triangular shape formed between the direction of looking downward from the vertical direction and the direction of looking downward from the second monitoring unit (PTZ).

Next, since the virtual right triangle is formed between the point where the second monitoring unit PTZ and the object are located and the direction of looking downward from the second monitoring unit PTZ, the second monitoring unit PTZ is formed. The up-and-down angle (PTZTA °) in which) should rotate to look at the point where the object is located is calculated by the following equation (21).

The "PTZTA °" calculated as described above is an angle at which the second monitoring unit PTZ looks at the point where the object is located, that is, the ground on which the human foot is touching, so that the second monitoring unit PTZ is the object. You cannot shoot a person's face.

Therefore, the second monitor PTZ and the object under the assumption that a person, who is an object, stands perpendicular to the ground in order to correct the angle at which the face of the person appears in the center of the second surveillance image. The object is positioned from the second monitoring unit PTZ by using a virtual triangle shape formed between a point where is located and a virtual point corresponding to the monitoring height OTP to which the object is to be photographed. The distance PTZRD between the points and the distance PTZTD between the monitoring height OTP from the second monitoring unit PTZ are calculated by the following equations (22) and (23), respectively.

When the "PTZRD" and "PTZTD" are calculated in this way, the second monitoring unit (PTZ) corresponding to the monitoring height (OTP) in which the object is to be photographed removes a specific part of the object, that is, a face. 2 The up-down angle (PTZTTA °) to be rotated to be located at the center of the surveillance image can be calculated by the following equation (24).

Through this process, the second monitoring unit PTZ is arranged so that a specific part of the object, for example, a human face, that appears on the topographical map is located at the center of the second surveillance image by the second monitoring unit PTZ. Can be monitored and tracked.

Through the same process as described above, the object is recognized and the object is monitored and tracked, but the terrain around the first monitoring unit (MFP) and the second monitoring unit (PTZ) is a natural disaster or various construction work. For example, the terrain created by the topographic map creation unit 10 may not reflect the changed terrain, and thus may fail to monitor and track the object. It is necessary to modify the topographic map. Here, the methods used to calculate various kinds of information about the changed actual terrain may refer to the description of FIGS. 4 to 14, and thus the detailed description thereof will be omitted.

15 and 16 illustrate a case in which the monitoring and tracking of the object through the second monitoring unit PTZ fail, that is, the object does not appear in the second surveillance image by the second monitoring unit PTZ. Is shown.

When the object is recognized through the first surveillance image, as shown in FIG. 13, the coordinates of the recognized object are calculated to extract a point where the object is located on the topographic map, and the second monitoring unit (PTZ) calculates the angle that should be operated to monitor and track the object.

Although the second monitoring unit PTZ is rotated according to the calculated angle as described above, the terrain is changed, and as shown in FIG. 15, the object is not present on the angle viewed by the second monitoring unit PTZ. Object may not be recognized. That is, when the point where the object is actually located is called the first point, and the point where the object is determined to be located is called the second point, the second monitor despite the object being at the first point Since the PTPT monitors the second point, the object does not appear on the second surveillance image.

If the monitoring and tracking of the object fails, the controller 30 sets the corresponding position, that is, the second point, as an error point on the topographic map.

At this time, the height of the object located at the first point is actually "TTH" (actual height), but if it is determined to be at the second point, it is different from the actual height (TTH), that is, "FTH (virtual height)". Will be calculated. In addition, when the first monitoring unit MFP looks at the second angle set as an error point, the minimum angle FOBA ° and the height FTH of the object when the object is present at the second point. The highest possible angle (FOHA °) can be extracted, the distance on the horizontal line (ROD) between the point where the first monitoring unit (MFP) is located and the second point that fails to track the object (ROD), the second point and Information such as height of topography (FOBH) between reference points, height of first monitoring unit (MFPRH) reflecting the height difference of the topographic map, and height of second monitoring unit (PTZRH) reflecting the elevation difference of the topographic map Can be obtained.

The controller 30 setting an error point on the topographic map controls the second monitoring unit PTZ to track where the object is. In this case, the tracking method of the second monitoring unit PTZ may use a topographic map, or may use only the second surveillance image by the second monitoring unit PTZ regardless of the topographic map, and use both the topographic map and the second surveillance image. It may be.

In the case of tracking by using the topographical map, the object is continuously recognized in the first surveillance image, so tracking using the previously prepared topographic map, for example, when the second monitoring unit PTZ fails to track It keeps on monitoring without moving.

In addition, when only the second surveillance image is used regardless of the topographical map, the second surveillance unit PTZ moves while tracking out to reduce the second surveillance image.

As a result, when the moving object as shown in FIG. 16 is recognized in the second surveillance image, the object information is generated through the object information generation unit 20, and the object as described in FIG. 8 or 10. In relation to the point at which) is recognized, for example, on a horizontal line between a point at which an object is recognized and a point at which one or two of the first monitoring unit MFP and the second monitoring unit PTZ are located. The topographic map can be modified to be closer to the actual terrain by extracting information on distance, height difference of the terrain, and slope of the terrain and reflecting the information on the terrain information. Here, when the second monitoring unit PTZ tracks the object using the topographic map, the object is recognized in the second surveillance image because the topographic information of the topographic map of the point where the object is recognized is In this case, the topographical map is not modified even if it is reflected in the topographical information.

Meanwhile, the object is recognized in the second surveillance image, so that the first monitoring unit MFP looks at the point where the object is recognized in the second surveillance image, and the minimum angle TOBA ° of the object and the object. The maximum angle TOHA ° from which the height can be extracted can be extracted, and the actual height TTH of the object at the point where the object is recognized can be calculated.

In particular, when tracking using a topographic map, if an object is recognized in the second surveillance image, the actual height TTH of the object calculated at the point where the object is recognized is at the second point. In place of the virtual height FTH in the case of determination, information on the first point where the object is actually located can be obtained. In other words, the distance on the horizontal line between the point where the first monitoring unit MFP is located and the first point, that is, the distance on the horizontal line between the point where the first monitoring unit MFP is located and the second point that fails to track the object. How much horizontal distance (COD) in (ROD) to move to the first point, and the height of the terrain between the first point and the reference point, ie the height of the actual terrain (ROBH) It can be calculated.

Meanwhile, when tracking an object using only the second surveillance image and recognizing the object and placing it in the center of the second surveillance image, the modified information is extracted according to the contents described in the description of FIG. 9. do. In this case, the information may be continuously modified until the object is recognized in the second surveillance image. In order to extract the height ROBH of the actual terrain of the first point, the monitoring height OTP described in FIG. 13 is calculated.

Through this process, the distance between the first monitoring unit MFP and the first point, that is, the distance between the first monitoring unit MFP and the second point that fails to track the object must be moved to some extent. Whether the distance X to reach the point is calculated may be obtained through Equation 25 below.

Then, by using the calculated "X", the distance COD on the horizontal line must be moved from the distance ROD on the horizontal line between the point where the first monitoring unit MFP is located and the second point. Whether it can be reached and the actual height (ROBH) of the terrain between the first point and the reference point is calculated by the following equations (26) and (27).

Through this process, the first point where the object is actually located can be extracted, and the point or the topographic map where the first point and the first monitoring unit MFP or the second monitoring unit PTZ are located is created. If you create a topographic map that reflects the actual terrain using the city singularity point (P), you can modify the topographic map by extracting the distance on the horizontal line between the singularity point (P), the height difference of the terrain, and the slope of the terrain to reflect the topographic information. As the process is repeated, the topographic map gradually approaches the actual topography.

Meanwhile, as mentioned in the description of FIG. 12, the first monitoring unit MFP may display an error expected region on the topographical map by calculating a virtual height FTH of the object and a preset tolerance. When controlling the operation of the monitoring unit (PTZ) it can be used as a check point or an auxiliary correction value.

Thus, those skilled in the art will appreciate that the present invention may be embodied in other specific forms without departing from the spirit or essential characteristics thereof.

It is therefore to be understood that the embodiments described above are to be considered in all respects as illustrative and not restrictive and the scope of the invention is indicated by the appended claims rather than the foregoing description, It is intended that all changes and modifications derived from the equivalent concept be included within the scope of the present invention.

MFP: first monitoring unit
PTZ, PTZ-1, PTZ-2, PTZ-3, PTZ-4: second monitoring unit
10: topographic map creator 20: object information generator
30: control unit 40: object type classification unit
Object: Objects P, P-1, P-2, and P-3: Singular Points

Claims (33)

In the surveillance system,
A first monitoring unit;
A second monitoring unit for monitoring a specific area;
A topographic map creation unit for creating a topographical map around the first monitoring unit and the second monitoring unit by using the first surveillance image by the first surveillance unit and the second surveillance image by the second surveillance unit;
An object information generation unit configured to generate object information by using the information of the object and the position of the object according to the topographical map when the object is recognized through the first surveillance image; And
A control unit controlling the second monitoring unit to monitor the object by using the topographic map and the object information;
Surveillance system comprising a.
The method of claim 1,
The first surveillance unit is any one of a fisheye lens camera, an ultra wide-angle lens camera, a zoom camera.
The method of claim 2,
Any one or two or more of the topographic map creation unit, the object information generation unit, the control unit is installed in the first monitoring unit.
The method according to any one of claims 1 to 3,
And the second monitoring unit is a rotation zoom camera.
The method of claim 4, wherein
The topographic map creation unit,
Generating terrain information by extracting a distance on a horizontal line between the point where the first monitoring unit is located and the point where the second monitoring unit is located, a height difference of the terrain, and a slope of the terrain;
Surveillance system, characterized in that for producing the topographical map by three-dimensional graphics of the topographic information.
The method of claim 5, wherein
When the object is recognized in the first surveillance image, the object is not recognized in the second surveillance image,
The control unit,
Let the second monitor track the object,
When the object is recognized in the second surveillance image, object information of the object is generated.
The topographical map by extracting the distance on the horizontal line, the height difference of the terrain and the slope of the terrain between the point where the object is recognized and the first monitoring unit, the second monitoring unit, any one or two or more of the points are located Surveillance system, characterized in that the control to reflect on.
The method according to claim 6,
And the second monitoring unit tracks the object using the topographic map.
The method according to claim 6,
The control unit,
Calculate the actual height of the object at the point where the object is recognized to extract the virtual height of the object at the point where the object is not recognized,
Extracting the point where the object is actually located by using the actual height of the object and the virtual height of the object,
Characterized in that the distance on the horizontal line, the height difference of the terrain and the slope of the terrain between the point where the object is actually located and the one or two of the first monitoring unit, the second monitoring unit is extracted and reflected in the terrain information. Surveillance system.
The method of claim 7, wherein
The control unit,
Calculate the actual height of the object at the point where the object is recognized to extract the virtual height of the object at the point where the object is not recognized,
Extracting the point where the object is actually located by using the actual height of the object and the virtual height of the object,
Characterized in that the distance on the horizontal line, the height difference of the terrain and the slope of the terrain between the point where the object is actually located and the one or two of the first monitoring unit, the second monitoring unit is extracted and reflected in the terrain information. Surveillance system.
The method of claim 5, wherein
Designate one or more singular points around one or two of the first monitoring unit and the second monitoring unit,
Characterized in that the distance on the horizontal line between the singular point and the point where any one or two of the first monitoring unit, the second monitoring unit is located, the height difference of the terrain and the slope of the terrain is extracted and reflected in the terrain information Surveillance system.
11. The method of claim 10,
When the object is recognized in the first surveillance image, the object is not recognized in the second surveillance image,
The control unit,
Let the second monitor track the object,
When the object is recognized in the second surveillance image, object information of the object is generated.
The topographical map by extracting the distance on the horizontal line, the height difference of the terrain and the slope of the terrain between the point where the object is recognized and the first monitoring unit, the second monitoring unit, any one or two or more of the points are located Surveillance system, characterized in that the control to reflect on.
The method of claim 11,
And the second monitoring unit tracks the object using the topographic map.
The method of claim 11,
The control unit,
Calculate the actual height of the object at the point where the object is recognized to extract the virtual height of the object at the point where the object is not recognized,
Extracting the point where the object is actually located by using the actual height of the object and the virtual height of the object,
The distance on the horizontal line between the point where the object is actually located and one or more of the first monitoring unit, the second monitoring unit, and the singular point, the height difference of the terrain, and the slope of the terrain are extracted to the terrain information. Surveillance system, characterized in that reflected.
13. The method of claim 12,
The control unit,
Calculate the actual height of the object at the point where the object is recognized to extract the virtual height of the object at the point where the object is not recognized,
Extracting the point where the object is actually located by using the actual height of the object and the virtual height of the object,
The distance on the horizontal line between the point where the object is actually located and one or more of the first monitoring unit, the second monitoring unit, and the singular point, the height difference of the terrain, and the slope of the terrain are extracted to the terrain information. Surveillance system, characterized in that reflected.
In the surveillance system,
A first monitoring unit;
A second monitoring unit for monitoring a specific area;
An object information generation unit for generating object information using the width and height information of the object when the object is recognized through the first surveillance image by the first monitoring unit; And
An object type classification unit for classifying the type of the object through the object information; And
It is determined whether the object is monitored according to the type of the object classified by the object type classification unit, and when the result is determined to monitor the object, the second monitoring unit monitors the object by using the object information. A control unit;
Surveillance system comprising a.
The method of claim 15,
A topographic map creation unit for creating a topographical map around the first monitoring unit and the second monitoring unit by using the first surveillance image and the second surveillance image by the second monitoring unit;
The object information includes location information of the object according to the topographic map.
And the control unit uses the topographical map and object information including location information of the object when the object is to be monitored.
17. The method of claim 16,
The topographic map creation unit,
Generating terrain information by extracting a distance on a horizontal line between the point where the first monitoring unit is located and the point where the second monitoring unit is located, a height difference of the terrain, and a slope of the terrain;
Surveillance system, characterized in that for producing the topographical map by three-dimensional graphics of the topographic information.
The method of claim 17,
When the object is recognized in the first surveillance image, the object is not recognized in the second surveillance image,
The control unit,
Let the second monitor track the object,
When the object is recognized in the second surveillance image, object information of the object is generated.
Extracts a distance on a horizontal line, a height difference of a terrain, and a slope of a terrain between a point at which the object is recognized and the first monitoring unit, the second monitoring unit, or a point at which one or more of the points are located; Surveillance system characterized in that the control to reflect the information.
The method of claim 18,
And the second monitoring unit tracks the object using the topographic map.
The method of claim 18,
The control unit,
Extract the actual height of the object at the point where the object is recognized and the virtual height of the object at the point where the object is not recognized,
Extracting the point where the object is actually located by using the actual height of the object and the virtual height of the object,
Characterized in that the distance on the horizontal line, the height difference of the terrain and the slope of the terrain between the point where the object is actually located and the one or two of the first monitoring unit, the second monitoring unit is extracted and reflected in the terrain information. Surveillance system.
The method of claim 19,
The control unit,
Calculate the actual height of the object at the point where the object is recognized to extract the virtual height of the object at the point where the object is not recognized,
Extracting the point where the object is actually located by using the actual height of the object and the virtual height of the object,
Characterized in that the distance on the horizontal line, the height difference of the terrain and the slope of the terrain between the point where the object is actually located and the one or two of the first monitoring unit, the second monitoring unit is extracted and reflected in the terrain information. Surveillance system.
The method of claim 17,
Designate one or more singular points around one or two of the first monitoring unit and the second monitoring unit,
Characterized in that the distance on the horizontal line between the singular point and the point where any one or two of the first monitoring unit, the second monitoring unit is located, the height difference of the terrain and the slope of the terrain is extracted and reflected in the terrain information Surveillance system.
The method of claim 22,
When the object is recognized in the first surveillance image, the object is not recognized in the second surveillance image,
The control unit,
Let the second monitor track the object,
When the object is recognized in the second surveillance image, object information of the object is generated.
Extracts a distance on a horizontal line, a height difference of a terrain, and a slope of a terrain between a point at which the object is recognized and the first monitoring unit, the second monitoring unit, or a point at which one or more of the points are located; Surveillance system characterized in that the control to reflect the information.
24. The method of claim 23,
And the second monitoring unit tracks the object using the topographic map.
The method of claim 22,
The control unit,
Extract the actual height of the object at the point where the object is recognized and the virtual height of the object at the point where the object is not recognized,
Extracting the point where the object is actually located by using the actual height of the object and the virtual height of the object,
Characterized in that the distance on the horizontal line, the height difference of the terrain and the slope of the terrain between the point where the object is actually located and the one or two of the first monitoring unit, the second monitoring unit is extracted and reflected in the terrain information. Surveillance system.
24. The method of claim 23,
The control unit,
Calculate the actual height of the object at the point where the object is recognized to extract the virtual height of the object at the point where the object is not recognized,
Extracting the point where the object is actually located by using the actual height of the object and the virtual height of the object,
Characterized in that the distance on the horizontal line, the height difference of the terrain and the slope of the terrain between the point where the object is actually located and the one or two of the first monitoring unit, the second monitoring unit is extracted and reflected in the terrain information. Surveillance system.
27. The method according to any one of claims 15 to 26,
The first surveillance unit is any one of a fisheye lens camera, an ultra wide-angle lens camera, a zoom camera.
27. The method according to any one of claims 15 to 26,
And the second monitoring unit is a rotation zoom camera.
The method of claim 27,
And the second monitoring unit is a rotation zoom camera.
27. The method according to any one of claims 15 to 26,
Any one or two or more of the topographic map creation unit, the object information generation unit, the control unit is installed in the first monitoring unit.
The method of claim 27,
Any one or two or more of the topographic map creation unit, the object information generation unit, the control unit is installed in the first monitoring unit.
29. The method of claim 28,
Any one or two or more of the topographic map creation unit, the object information generation unit, the control unit is installed in the first monitoring unit.
30. The method of claim 29,
Any one or two or more of the topographic map creation unit, the object information generation unit, the control unit is installed in the first monitoring unit.

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