Active surveillance using depth sensing technology — Part III: Real-time intrusion mapping with remote notification

In the final part of the three-part series on active surveillance using depth-sensing technology, this paper proposes a system that provides both real-time geographical tracking of an intruder and remote alarm notification. This is achieved by first translating both the skeletal depth and rotation angle from a set of cascaded Kinect depth sensors mounted on a pan tilt unit into a geographical coordinate system. These coordinates are then relayed to multiple notification modules, representing a unified remote alarm notification system of a surveilled premise(s). This system also includes a real-time plot of the intruder on a map during the tracking phase and a proximity algorithm to compute the distance between the intruder and each premise. Experiment results validates the feasibility of the proposed system in realizing a unified real-time intruder mapping and notification platform.