Active surveillance using depth sensing technology \#8212; Part I: Intrusion detection

In part I of a three-part series on active surveillance using depth-sensing technology, this paper proposes an algorithm to identify outdoor intrusion activities by monitoring skeletal positions from Microsoft Kinect sensor in real-time. This algorithm implements three techniques to identify a premise intrusion. The first technique observes a boundary line along the wall (or fence) of a surveilled premise for skeletal trespassing detection. The second technique observes the duration of a skeletal object within a region of a surveilled premise for loitering detection. The third technique analyzes the differences in skeletal height to identify wall climbing. Experiment results suggest that the proposed algorithm is able to detect trespassing, loitering and wall climbing at a rate of 70%, 85% and 80% respectively.