Intrusion detection device, intrusion detection system, intrusion detection method, and intrusion detection program

摘要

PROBLEM TO BE SOLVED: To provide a device capable of accurately detecting an intrusion object with a small amount of calculation.SOLUTION: When a light beam is irradiated to each direction from a range finder 1, one or a plurality of first threshold values which is a distance between one or each of a plurality of first threshold values and the range finder 1 where a light beam is incident on a three-dimensional monitor object region surrounded by a plurality of surfaces and a range finder 1, and a second threshold value corresponding to one or each of the plurality of first threshold values which is the second threshold value being the distance between one or a plurality of points and the ranger finder 1 where this light beam emits from a three-dimensional monitor object region when the light beams is irradiated to each direction from the range finder 1 are stored in association with the irradiation direction of the light beams. When the distance between the object in the direction corresponding to a monitor object pixel in an observation distance image Robs which is generated by range-finding a three-dimensional space by two-dimensional scan type range finder 1 and the range finder 1 is not less than the first threshold value associated with the direction corresponding to the monitor object pixel and not more than the second threshold value corresponding to the monitor object pixel, the object is determined to be included in the three-dimensional monitor object region.SELECTED DRAWING: Figure 6