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WO2007104367A1 - Système de vidéosurveillance - Google Patents

Système de vidéosurveillance Download PDF

Info

Publication number
WO2007104367A1
WO2007104367A1 PCT/EP2006/066686 EP2006066686W WO2007104367A1 WO 2007104367 A1 WO2007104367 A1 WO 2007104367A1 EP 2006066686 W EP2006066686 W EP 2006066686W WO 2007104367 A1 WO2007104367 A1 WO 2007104367A1
Authority
WO
WIPO (PCT)
Prior art keywords
video
video camera
camera
surveillance system
joystick
Prior art date
Application number
PCT/EP2006/066686
Other languages
German (de)
English (en)
Inventor
Gerald Schreiber
Christoph Steinbrück
Original Assignee
Siemens Aktiengesellschaft
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Siemens Aktiengesellschaft filed Critical Siemens Aktiengesellschaft
Publication of WO2007104367A1 publication Critical patent/WO2007104367A1/fr

Links

Classifications

    • G—PHYSICS
    • G08—SIGNALLING
    • G08B—SIGNALLING OR CALLING SYSTEMS; ORDER TELEGRAPHS; ALARM SYSTEMS
    • G08B13/00—Burglar, theft or intruder alarms
    • G08B13/18—Actuation by interference with heat, light, or radiation of shorter wavelength; Actuation by intruding sources of heat, light, or radiation of shorter wavelength
    • G08B13/189—Actuation by interference with heat, light, or radiation of shorter wavelength; Actuation by intruding sources of heat, light, or radiation of shorter wavelength using passive radiation detection systems
    • G08B13/194—Actuation by interference with heat, light, or radiation of shorter wavelength; Actuation by intruding sources of heat, light, or radiation of shorter wavelength using passive radiation detection systems using image scanning and comparing systems
    • G08B13/196—Actuation by interference with heat, light, or radiation of shorter wavelength; Actuation by intruding sources of heat, light, or radiation of shorter wavelength using passive radiation detection systems using image scanning and comparing systems using television cameras
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N7/00—Television systems
    • H04N7/18—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast
    • H04N7/181—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast for receiving images from a plurality of remote sources

Definitions

  • the invention relates to a video surveillance system with a number of video cameras whose video images can be displayed on a display device to monitor a located in an observation room object, each video camera is fixed in position, the orientation but is controlled by a connected video camera control device.
  • the video camera controller is connected to a user controller. By means of the user control can manually a
  • Video camera to be selected, which appears suitable for monitoring the object.
  • Video surveillance systems are used, for example, in railway stations or airports to increase security and to reduce vandalism. Even with major sporting events, such. in a stadium, video cameras are used to detect possible crimes and
  • the evaluation of the monitor images takes place in a control room by one or more operators.
  • Systems are known in which the orientation of the individual video cameras can be preset manually by means of an operating device by the operator. In the video observation of an object in motion, so far has been moved so that the operator tracks the movement of the object until the object threatens to disappear from the picture. At this point, the operator switches to a suitable second camera. In order not to lose sight of the object, this switching must be carried out quickly. However, this requires on the part of the operator always knowledge of local conditions of the observation room, as well as the location and the detection range of the individual video cameras. Only in this way can she select a camera that is best suited for tracking the object. In addition, with the second camera, the target object must be targeted as quickly as possible in order to focus on it. Due to stress can be such a manual
  • Systems are also known that can identify and (for example with a mark) track objects in video images through image processing algorithms. Also known are systems that can use this information to guide other cameras (AW Senior, A. Hampapur, M. Lu (IBM TJ Watson Research Center): Acquiring Multi-Scale Images by Pan-Tilt-Zoom Control and Automatic Multi-Scale. Camera Calibration).
  • the image processing algorithms used in such systems are very expensive and require powerful computing units and are therefore rarely in use.
  • the present invention is based on the fact that a User manually introduces a guide camera and aims to allow the use of additional cameras to observe the selected object with simpler means.
  • the invention is based on the assumption that video monitoring of an object in motion can take place in a particularly favorable manner if the object is tracked by a manually operated first video camera (guiding camera) and if at least one further second video camera (tracking camera) is automatically assigned to this movement. which also visualizes the environment of the object in real time.
  • video images of one or more tracking cameras which are already focused and focused on the object, are displayed to the operator at the same time.
  • the auto-managed tracking cameras also make the object real-time images, but from a different perspective. The operator can now use this enhanced visual representation to quickly select a video camera other than a guide camera as the object moves out of the image.
  • Video camera control device in the selection of at least one other video camera, a three-dimensional model of the observation room, which is kept in a memory of the video camera control device.
  • the 3-D model contains the coordinates of the locations of each video camera.
  • the orientation information (spatial and optical) of the Fuhrungsnite is also on the part of the video camera control device, so that the location information of the object from the Anvmaschine the Fuhrungsnite and computational linkage of the above information can be determined. If the position of the object is fixed, the selection of additional cameras can be done automatically and quickly. A complex image processing (image processing) is not required for the selection.
  • this alignment information is measured locally on the camera and transmitted to the video control device.
  • the measurement is performed by transducers attached to each actuator of each video camera.
  • the orientation information is provided by the tilt angle, the tilt angle, and the positioning of the vision system's optical system (aperture, focus, and zoom).
  • the operating device of the video surveillance system on a joystick, a so-called. Joystick on.
  • the joystick makes it easy to sight and manually follow a guide camera.
  • the joystick hereby assigned a switching device by means of which the joystick can be used alternately either for spatial orientation of the Fuhrungsyear or for alignment of the optical system of the Fuhrungsyear.
  • Relationship between the generated counterforce and the manual deflection of the joystick is non-linear.
  • the too Overcome counterforce is increasingly greater, the closer the user comes to the limit.
  • For archiving the image material are particularly suitable video servers, as they are already used in the monitoring of public buildings.
  • Figure 1 is an exemplary embodiment of the inventive
  • Video surveillance system in a simplified block diagram
  • Figure 2 is a flow chart for an automatic
  • Figure 3 is a diagram illustrating the counter force operation of the joystick
  • Figure 4 is a schematic representation of a video camera, in a position before being aligned with a Target object, where the target object is located on a tribune of a stadium.
  • FIG. 1 an embodiment of the invention is shown as it is for the observation of visitors to a sporting event, e.g. a football stadium can be used.
  • Reference numeral 13 denotes the video surveillance system throughout.
  • the video surveillance system 13 essentially consists of several video cameras in operation, of which only the video cameras 1, 2, 3 can be seen in FIG. 1 for the sake of clarity, a video camera control device 15 and an operating and display device 9, 11th Observed is the target object 4 which is located in an observation room 5 and is freely movable there.
  • the observation space 5 is sketched in FIG. 1 as a delimited spatial area by a dashed line.
  • the video cameras 1, 2, 3 are so-called pan-tilt-zoom cameras (pan-tilt-zoom cameras), that is to say they are stationary with respect to the coordinates X, Y, Z on a mast 20, but pivotable with respect to the alignment of their optical axes 14 on the object 4 to be observed. Within predefined limits, therefore, the viewing direction of each of these video cameras 1, 2, 3 can be aligned.
  • the pivoting movement is predetermined by in Fig. 1 is not shown closer and known per se positioning drives an adjusting device.
  • drives for example, stepper motors or electric motors can be used in a position control loop.
  • the optical adjustment (focus and zoom) is also by a corresponding electrical positioning specified.
  • Each positioning drive is coupled to a transmitter to metrologically detect the position.
  • This actual size is reported back to the video camera selection and control device 6 of the video camera control device 15 as an electrical signal via the bus connections 141, 142 143.
  • the illustrated for the optical adjustment can also relate to the value of the aperture, in other known embodiments, the aperture is fixed to a known value or manually adjustable mechanically.
  • the current aperture value of the video camera control device 15 must be known as a configuration parameter.
  • the values for focus are determined either manually or automatically by the camera and adjusted (so-called autofocus mode).
  • the automatic setting is done, for example, by contrast measurements in the image determined by the image recorder not shown individually. This relieves the operator of such setting operations.
  • the determined setting values are available to the video camera control device 15 as described above.
  • the operation of the video surveillance system 13 is carried out by means of a user control 8 by an operator.
  • the user control 8 is connected to the video camera selection and control device 6 via a signal-conducting connection 146.
  • the user control 8 has a camera control dome, a so-called joystick 9 and a switching device 10. By means of the joystick 9, a selected video camera can manually with respect to their
  • the control device 10 allows the assignment of the joystick 9 to certain positioning drives (spatial orientation, focus and zoom) of a video camera.
  • the switching device 10 consists of several switches and cubicles, which are arranged in the immediate vicinity of the joystick 9. Through this adjacent arrangement of joystick 9 and
  • Switching device 10 the position of the hand of the operator can be maintained during operation, which facilitates handling.
  • the image material supplied by the video cameras 1, 2, 3 passes via the signal-conducting connection 145 to a display device 11.
  • the display is effected by means of the monitors 12.
  • the video camera control device 15 consists essentially of a video camera selection and control device 6 and a computing device 7, which are connected via the 144.
  • the computing device 7 is a conventional personal computer (PC).
  • the PC 7 has a memory device 100.
  • the video camera control device 15 generates for controlling the video cameras 1,2,3 control signals by which each of the video cameras 1,2,3 can be focused in their spatial orientation and in terms of their optical system on the object to be observed 4.
  • the memory device 100 contains so-called 3D data, which images the observation space 5 as a three-dimensional model. This includes the coordinates of the installation location of each video camera 1,2,3.
  • the joystick 9 is, as already mentioned universally applicable: Depending on the specification of the switching device 10, the joystick 9 can be used either for spatial orientation of the guide camera or for adjusting the optical system of the guide camera. The assignment depends on a switch position of the switching device 10. In accordance with one aspect of the present invention, the joystick 9 is configured to counteract manual design with increasing joystick force feedback. This joystick counterforce is generated by actuators in the user control 8.
  • control information for the video cameras 1, 2, 3 are usually transmitted as vector information relative to the current setting with a control value that is often unactuated in advance due to the functional principle or certain values are automatically determined by the camera depending on the operating mode used (autofocus ), the actual orientation or the actual control value for the optical properties (aperture, focus, zoom) is detected metrologically and transmitted via the signal-conducting connection 141, 142, 143 back to the video camera control device 15.
  • the respective object position of the object 4 to be observed can be calculated on the basis of the three-dimensional model by means of the computing device 7.
  • a tracking camera in the following also as a slave, can be used on the basis of the 3-D model Camera, to be selected.
  • This selection of a slave camera is based on the 3D data stored in the memory 100: from each eligible video camera, the viewing area is described in the form of a cone, in the top of the video camera and in the center of the
  • a location vector 18 to the object 4 is calculated. Is the view cone or the location vector 18 an obstacle against (that is, the object 4 is partially or completely in one
  • this video camera can not be used as a slave camera. If, on the other hand, the view of the object 4 is unhindered, then this video camera is eligible for selection as a slave camera. In this way, the suitability for each operational video camera is checked successively.
  • FIG. 2 shows a flowchart with reference to which the automatic object tracking according to the invention is explained in more detail by program steps:
  • positioning data are determined by the lead camera. This determination is made by reading back the respective actual values from the periphery, that is to say swivel angle 16, tilt angle 17 and aperture, focus and zoom. These positioning data are transmitted via the bidirectional Bus 141, 142, 143 transmitted to the video camera evaluation and control device 15 and subsequently via the bus 144 to the computing device 7.
  • the targeted object position is calculated by the computing device 7.
  • the positioning data of the guide camera determined in program step (1) are used together with 3D data which are stored in the memory 100 of the computing device 7.
  • a verification can be performed so that the object position can be displayed accurately.
  • the result of this calculation is a location vector 18, which points from the guidance camera to the instantaneous object position.
  • program step (3) at least one further video camera is selected as the tracking camera from the number of installed video cameras. This selection is likewise carried out by the computing device 7 on the basis of the object position determined in the second program step (2) and the coordinates of the respective installation location of a video camera. The result is at the end of program step
  • the computing device 7 calculates positioning information that is suitable for aligning the tracking camera (s) selected in program step (3) so that they point to the object position (calculated in program step (2)) and to the object 4 are focused.
  • This actuating information is transmitted via the signal-conducting connection 144 to the video camera selection and control device 6 from there via the connection 141 or 142 or 143 to the selected or selected Nachbowski (s).
  • program step (5) the automatic alignment of the tracking cameras takes place. As can be seen from the flowchart of FIG. 2, this program loop is closed by a jump back to program step (1).
  • Program step (6) offered to the operator to change the association between Nachchttre and Fuhrungsbeat: He decides on the basis of the monitor images displayed on the display device 11, whether for further monitoring of the object 4 is not a displayed monitor image of a
  • FIG. 3 shows in a diagram the force curve of the joystick counter force F (force feedback strength) as a function of a camera angle (tilt angle or tilt angle).
  • the counterforce is generated in the user control 8 by suitable actuators.
  • the size of the counterforce can be specified by the user control 8.
  • no counterforce is at all effective at a specific interval around the zero point of the camera angle. After this interval, the counterforce to be overcome by the operator progressively increases with the camera angle (camera angle).
  • the near end of a parking range for example, the pivoting action of a Video camera
  • the operator is not only the visual control, but also a tactile perceptible information available.
  • FIG. 4 shows, in a schematic representation, a video surveillance camera 1 which is aimed at a viewer 4 who is located on a tribune 19 of a stadium.
  • the grandstand 19 is shown in Figure 4 by the Cartesian coordinates 0,0, 0; 100.0, 0; 100,20,100 and 0, 20,100 models.
  • the video-surveillance camera 1 is fixedly arranged on a mast 20 and rotatably mounted about a ball joint 21. Their Aufstellkoordinaten, that is, the coordinates of the ball joint 21 are -50, 100, -50.
  • the camera 1 In order to align its optical axis 14 (dashed line in Figure 4) on the visitor 4, the camera 1 is pivoted about the pivot angle 16 and inclined by the tilt angle 17.
  • the location vector 18 (solid line in FIG. 4) of the camera 1 points to the target person 4 on the platform 19.
  • the location vector 18 thus contains spatial direction information (the spatial orientation of the video camera 1) as well as a
  • Spectators for tumult or panic situations are suspected of preparing to throw fireworks, so they can be seen quickly and from different perspectives. As a result, any necessary countermeasures can be taken early on. If an offense is observed, relevant evidence can be recorded in a short amount of time and temporarily activated in a video server. Compilation of the reference numbers used

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  • Engineering & Computer Science (AREA)
  • Multimedia (AREA)
  • Signal Processing (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Closed-Circuit Television Systems (AREA)

Abstract

La présente invention concerne un système de vidéosurveillance comprenant : un certain nombre de caméras vidéo (1, 2, 3) dont les images vidéo peuvent être affichées sur un dispositif d'affichage (11), afin de contrôler un objet (4) se trouvant dans un espace d'observation (5), chaque caméra vidéo étant disposée de manière fixe par rapport à l'alignement sur l'objet (4) mais pouvant être commandée en connectant un dispositif de contrôle (15) de caméra vidéo ; une commande utilisateur (8) reliée au dispositif de contrôle (15) de la caméra vidéo au moyen de laquelle une première caméra vidéo peut être sélectionnée manuellement par une manipulation de l'utilisateur dans le cas d'un objet (4) se trouvant en mouvement, ce qui permet de suivre le mouvement, le dispositif de contrôle de caméra vidéo (15) sélectionnant au moins une deuxième caméra vidéo et commandant l'alignement de cette (ces) dernière(s) de telle sorte qu'elle(s) suive (suivent) également le mouvement de l'objet (4), et l'image vidéo de la première caméra vidéo et l'image vidéo desdites caméras vidéo ou plus étant représentées simultanément sur le dispositif d'affichage (11).
PCT/EP2006/066686 2006-03-16 2006-09-25 Système de vidéosurveillance WO2007104367A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102006012239.9 2006-03-16
DE102006012239A DE102006012239A1 (de) 2006-03-16 2006-03-16 Video-Überwachungssystem

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WO2007104367A1 true WO2007104367A1 (fr) 2007-09-20

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US9560309B2 (en) 2004-10-12 2017-01-31 Enforcement Video, Llc Method of and system for mobile surveillance and event recording
US9602761B1 (en) 2015-01-22 2017-03-21 Enforcement Video, Llc Systems and methods for intelligently recording a live media stream
US9660744B1 (en) 2015-01-13 2017-05-23 Enforcement Video, Llc Systems and methods for adaptive frequency synchronization
CN106982334A (zh) * 2017-03-02 2017-07-25 上海申通地铁集团有限公司 用于地铁车站的客流监控装置及方法
CN103731598B (zh) * 2012-10-12 2017-08-11 中兴通讯股份有限公司 一种智能监控终端及视频监控方法
US9860536B2 (en) 2008-02-15 2018-01-02 Enforcement Video, Llc System and method for high-resolution storage of images
US10172436B2 (en) 2014-10-23 2019-01-08 WatchGuard, Inc. Method and system of securing wearable equipment
US10250433B1 (en) 2016-03-25 2019-04-02 WatchGuard, Inc. Method and system for peer-to-peer operation of multiple recording devices
US20190163974A1 (en) * 2016-07-29 2019-05-30 Huawei Technologies Co., Ltd. Target Monitoring Method, Camera, Controller, and Target Monitoring System
US10341605B1 (en) 2016-04-07 2019-07-02 WatchGuard, Inc. Systems and methods for multiple-resolution storage of media streams
US11785342B2 (en) 2020-11-02 2023-10-10 Axis Ab Method of activating an object-specific action

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DE102008038701B4 (de) * 2008-08-12 2010-09-02 Divis Gmbh Verfahren zum Nachverfolgen eines Objektes
DE102010032496A1 (de) * 2010-07-28 2012-02-02 Ids Imaging Development Systems Gmbh Überwachungskamera mit einem Positionssensor
FR2973142B1 (fr) * 2011-03-22 2022-12-16 Applications Techniques Etudes Realisations Mec Electroniques Systemes Systeme de surveillance
DE102012211298A1 (de) * 2012-06-29 2014-01-02 Robert Bosch Gmbh Anzeigevorrichtung für ein Videoüberwachungssystem sowie Videoüberwachungssystem mit der Anzeigevorrichtung
DE102016223132A1 (de) * 2016-11-23 2018-05-24 Robert Bosch Gmbh Verfahren und System zum Detektieren eines sich innerhalb eines Parkplatzes befindenden erhabenen Objekts
DE102022202620A1 (de) 2022-03-17 2023-09-21 Robert Bosch Gesellschaft mit beschränkter Haftung Überwachungsanordnung zur Darstellung von bewegten Objekten Überwachungsbereich, Verfahren zur Darstellung von einem bewegten Objekt in einem Überwachungsbereich, Computerprogramm und Speichermedium

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Cited By (20)

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Publication number Priority date Publication date Assignee Title
US10063805B2 (en) 2004-10-12 2018-08-28 WatchGuard, Inc. Method of and system for mobile surveillance and event recording
US10075669B2 (en) 2004-10-12 2018-09-11 WatchGuard, Inc. Method of and system for mobile surveillance and event recording
US9756279B2 (en) 2004-10-12 2017-09-05 Enforcement Video, Llc Method of and system for mobile surveillance and event recording
US9871993B2 (en) 2004-10-12 2018-01-16 WatchGuard, Inc. Method of and system for mobile surveillance and event recording
US9560309B2 (en) 2004-10-12 2017-01-31 Enforcement Video, Llc Method of and system for mobile surveillance and event recording
US10334249B2 (en) 2008-02-15 2019-06-25 WatchGuard, Inc. System and method for high-resolution storage of images
US9860536B2 (en) 2008-02-15 2018-01-02 Enforcement Video, Llc System and method for high-resolution storage of images
CN103731598B (zh) * 2012-10-12 2017-08-11 中兴通讯股份有限公司 一种智能监控终端及视频监控方法
US10172436B2 (en) 2014-10-23 2019-01-08 WatchGuard, Inc. Method and system of securing wearable equipment
US9660744B1 (en) 2015-01-13 2017-05-23 Enforcement Video, Llc Systems and methods for adaptive frequency synchronization
US9923651B2 (en) 2015-01-13 2018-03-20 WatchGuard, Inc. Systems and methods for adaptive frequency synchronization
US9602761B1 (en) 2015-01-22 2017-03-21 Enforcement Video, Llc Systems and methods for intelligently recording a live media stream
US9888205B2 (en) 2015-01-22 2018-02-06 WatchGuard, Inc. Systems and methods for intelligently recording a live media stream
US10250433B1 (en) 2016-03-25 2019-04-02 WatchGuard, Inc. Method and system for peer-to-peer operation of multiple recording devices
US10848368B1 (en) 2016-03-25 2020-11-24 Watchguard Video, Inc. Method and system for peer-to-peer operation of multiple recording devices
US10341605B1 (en) 2016-04-07 2019-07-02 WatchGuard, Inc. Systems and methods for multiple-resolution storage of media streams
US20190163974A1 (en) * 2016-07-29 2019-05-30 Huawei Technologies Co., Ltd. Target Monitoring Method, Camera, Controller, and Target Monitoring System
US11023727B2 (en) * 2016-07-29 2021-06-01 Huawei Technologies Co., Ltd. Target monitoring method, camera, controller, and target monitoring system
CN106982334A (zh) * 2017-03-02 2017-07-25 上海申通地铁集团有限公司 用于地铁车站的客流监控装置及方法
US11785342B2 (en) 2020-11-02 2023-10-10 Axis Ab Method of activating an object-specific action

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