Device and method surveilling abnormal behavior using 3D image information

A surveilling device, comprising:

• a coordinate converter converting a depth image input through a 3D camera into a real world coordinate that is a space coordinate;
• a floor region detector detecting a floor plane and calculating a plane reference distance value representing a distance far away from the floor plane, using the real world coordinate;
• a background model generator generating a background model, which is a background portion of a depth image, on basis of the plane reference distance value for a first time;
• and
• a region of interest detector comparing a first plane reference distance value that is the plane reference distance value calculated by the floor region detector with the background model, for the depth image input after the first time to detect a region of interest,
• wherein the detecting of the floor plane and the calculating the plane reference distance value comprises:
• setting three points p1, p2, p3 located on the floor plane represented by Equation 2 using one point where a Y-axis value is a minimum value on the real world coordinate:
• wherein Equation 2 is expressed as p1={x1,y1,z1}, p2={x2,y2,z2}, p3={x3,y3,z3};
• wherein {x1,y1,z1}, {x2,y2,z2}, {x3,y3,z3} are real world coordinates;
• and
• calculating a plane equation represented by Equation 3 using the three points p1, p2, p3:
• wherein Equation 3 is expressed as ax+by+cz=d;
• wherein a, b, and c are coefficients which are obtained by Equation 4, and d is the plane reference distance value which is obtained by Equation 5:
• wherein Equation 4 is expressed as a=y1(z2−z3)+y2(z3−z1)+y3(z1−z2), b=z1(x2−x3)+z2(x3−x1)+z3(x1−x2), c=x1(y2−y3)+x2(y3−y1)+x3(y1−y2);
• and
• wherein Equation 5 is expressed as d=a*(realworldX−ptPointX)+b*(realworldY−ptPointY)+c*(realworldZ−ptPointZ);
• and
• wherein realworldX, realworldY, and realworldZ represent the real world coordinate and ptPointX, ptPointY, and ptPointZ represent any one point of the three points p1, p2, p3 of the floor plane.

A surveilling system, comprising:

• a 3D camera installed in a region to be monitored and acquiring an image of the region;
• and
• a surveilling device converting a depth image acquired from the 3D camera into a real world coordinate that is a space coordinate, using the real world coordinate to detect a floor plane of the depth image, calculating a plane reference distance value representing a distance far away from the floor plane, generating a background model, which is a background portion of the depth image, on basis of the plane reference distance value calculated for a predetermined time, and calculating a first value that is a value obtained by calculating the plane reference distance value for the depth image incoming after the predetermined time and compares the first value with the background model to detect a region of interest,
• wherein the detecting of the floor plane and the calculating the plane reference distance value comprises:
• setting three points p1, P2, p3 located on the floor plane represented by Equation 2 using one point where a Y-axis value is a minimum value on the real world coordinate:
• wherein Equation 2 is expressed as p1={x1,y1,z1}, p2={x2,y2,z2}, p3={x3,y3,z3};
• wherein {x1,y1,z1}, {x2,y2,z2}, {x3,y3,z3} are real world coordinates;
• and
• calculating a plane equation represented by Equation 3 using the three points p1, p2, p3:
• wherein Equation 3 is expressed as ax+by+cz=d;
• wherein a, b, and c are coefficients which are obtained by Equation 4, and d is the plane reference distance value which is obtained by Equation 5:
• wherein Equation 4 is expressed as a=y1(z2−z3)+y2(z3−z1)+y3(z1−z2), b=z1(x2−x3)+z2(x3−x1)+z3(x1−x2), c=x1(y2−y3)+x2(y3−y1)+x3(y1−y2);
• and
• wherein Equation 5 is expressed as d=a*(realworldX−ptPointX)+b*(realworldY−ptPointY)+c*(realworldZ−ptPointZ);
• and
• wherein realworldX, realworldY, and realworldZ represent the real world coordinate and ptPointX, ptPointY, and ptPointZ represent any one point of the three points p1, p2, p3 of the floor plane.