Proceedings of the 8th

World Congress on Intelligent Control and Automation

July 6-9 2010, Jinan, China























































978-1-4244-6712-9/10/$26.00 2010 IEEE


Energy-Based Surveillance Systems for ATM Machines
Ning Ding, Yongquan Chen, Zhi Zhong and Yangsheng Xu
Mechanical and Automation Engineering Department, The Chinese University of Hong Kong, Hong Kong, China
Shenzhen Institute of Advanced Technology, Shenzhen, Guangdong, China
{nding, yqchen, zzhong, ysxu}@mae.cuhk.edu.hk
AbstractThis paper presents a video surveillance system
which can detect and deal with typical abnormal behaviors on
Automatic Teller Machine (ATM), such as fraud and robbery,
etc. Based on the case study of violent incident video records,
a weighted kinetic energy extraction approach for violence
identication is proposed. By using the new approach, the
motion eld is weighted with angle coefcient, thus reducing
the video stream to a one-dimension energy series. Experimental
results show that the ATM video surveillance system with energy
approach is effective for typical incident classication and that
the corresponding alarm signal is reliable.
Index TermsIntelligent surveillance system, feature ex-
traction, Violence behavior detection, Automatic Teller Ma-
chine(ATM)
I. INTRODUCTION
With growing number of ATMs put into use comes the
added responsibility of their maintenance and, more impor-
tantly, their security concerns. To address the problem, the
banking industry has been using surveillance systems (some-
times called CCTV systems) extensively over the past 20
years. To the ATM scene, generally speaking, there are two
typical ATM-related crimes. The rst is Non-violent crimes,
such as Fraud, Password Theft. The second is Violent crimes,
such as Robbery. The Fig.1 shows two actual crime case. The
upper three gures is three criminals(highlight with yellow
line) changing the victims card by distracting his attention.
Compared with Non-violent activities, some crimes are more
violent and more damaging to cardholder or to ATM. Take
for example, Vandalism, in the form of violent damage, for
purely destructive purposes or for stealing money; and Rob-
bery, where a cardholder is physically threatened and forced
by hijackers to draw money from the ATM as the lower three
gures in Fig.1 shows. These crimes take place mostly at
midnight on or around the unguarded ATMs offering 24-hour
services. But, the majority of surveillance system still only
play the role of After-care services because of the defect of
manual control. So we propose a video surveillance system
to detect and recognize abnormal behaviors at ATMs.
Many researcher proposed human abnormal behaviors de-
tection approaches in video surveillance system, eg. Cupillard

This work was supported by the grants from International S&T

This work is partially supported by National Natural Science Founda-
tion of China Grant#90820017, National Basic Research Program of
China #2007cb311005, and Hong Kong Innovation and Technology Fund
#GHP/006/09SZ
Fig. 1 Real case snapshots. These gures shows two real crimes
at ATM. The upper three gures show three criminals is stealing
card by distracting customers attention, and the lower gures show
robbery in ATM.
et al.[1] give a methodology of human behavior recognition
and framework of video surveillance system. Aimed at ab-
normal behaviors, Datta[2] lay emphasis on studying human
gait. Chen et al.[3] and Wu et al.[4] adopt SVM methods
to identify whether the object gait is normal or not. This
method is same to Geng et al.[5]. The paper[6], Oren et al.
use chunks of data extracted from the database to recognize
whether the video content is irregular or not. The motion
feature in Nonviolent cases is diversied, but they have the
same characteristics. That is, all criminals have to get close
to victims before they start to act. Accordingly, we use
object tracking to detect these behaviors. Haritaoglu et al.[7]
have made great effort in background estimation and object
tracking. Although the probability of violence occuring is
limited, the consequences is very serious. As violence acts are
usually rapid and complex physical movements. For human
aggressive behavior detection, Nam et al.[8] and Zajdel et
al.[9], presents an abnormality detection abnormality detec-
tion based on a video energy approach fusion an abnormal
audio detection method to detect aggressive events at metro
stations. These fusion method belongs to multimodal surveil-
lance system[10]. In our early research work, Zhong et al.
have adopted an energy-based algorithm[11], [12] for video
surveillance for crowd estimation. In this paper, we propose a
weighted kinetic energy extraction approach to describe the
degree of the drastic motion of object in a macroscopical
way. The algorithm was embedded in the video surveillance
system framework at ATMs. And experimental results show
2880
Fig. 2 The framework of Video Energy-based ATM Surveillance
System. The system is described on Matlab and Simulink.
that the system using the novel energy algorithm and the
system performs well in abnormality detection.
The paper is organized as follows: In section 2, we briey
introduce the architecture of ATM video surveillance system.
In section 3, details of Energy algorithm of weighted kinetic
energy are explained. We present the experiment designation
and procedure in Section 4. Finally, experimental results and
conclusion is given out in the section 5.
II. ATM VIDEO SURVEILLANCE SYSTEM
The framework of the ATM video surveillance system
is described by the Matlab Simulink develop platform. As
shown in Fig.2, The system include Signal Input, Result
Output and Analysis subsystem. The Output is used to show
results and alarm. The Input includes the following function:
1) Gaussian background modeling;
2) Adaptive background updating;
3) Video resolution resizing for expediting the processing
speed.
Analysis subsystem includes the following function:
1) Sensitive regional monitoring subsystem;
2) Monitoring subsystem for violent behavior;
3) Logical decision-making subsystem.
A. Sensitive Area Monitoring Subsystem
To dene abnormal behaviors at ATMs, rst we have to
know what normal behaviors are. Under normal circum-
stances, people should queue up at ATMs. When someone is
operating on an ATM, other customers should keep waiting
behind a yellow line. In fact, the strict implementation of this
rule can prevent many problems from happening. Before a
customer leaves the ATM booth with his card and cash, it is
better for him to keep a safe distance from the others. We
can set aside a region within the yellow line in front of ATM
as the sensitive area, where customers are allowed to enter
one at a time. Normally, there is more than one person at
the ATM in service as, for instance, couples often go to the
ATM together, and kids tend to stand next to their parents. To
reduce the occurrence ratio of abnormal events, the drawing
of a yellow line is reasonable and acceptable. With object
tracking and trail analyzing, the system can detect several
typical kinds of fraud, password theft, abnormal loitering and
etc., at ATMs.
Sensitive area monitoring subsystem uses the current frame
of the video and the background from previous model as
input signal, and then exports object positions to the logical
decision making subsystem, whose functions can be easily
realized with blob detection tracking. There are three steps
in this subsystem:
1) Setting Region Of Interesting(ROI);
2) Foreground extraction;
3) Blob tracking and labeling.
B. Aggressive Behaviors Detection Subsystem
Identication for violent actions call for a high demands
for real-time. However, the detection methods based on
the posture detail and body characteristics of the target
can not meet the requirement[2] etc.. In this subsystem,
a 4-dimensions video stream will be converted into an 1-
dimension energy curve through a novel video energy mining
approach. The method is a dimension reduction approach in
nature.
Violent act are not conned to a region being monitored,
which requires the real-time analysis of the whole scene. The
input of subsystem is the current frame, and the output the
energy value of the frame. Processing functions include:
1) Optical ow computation;
2) Mask settings;
3) Motion eld and Angle eld extraction;
4) Energy mining model based on the Weighted Kinetic
Energy Extraction algorithm which will be presented in the
section 3 in detail.
C. Logical Decision Subsystem
As the Fig.3 shows, the logical decision subsystem identi-
es the video content based on the information from the two
proceeding subsystems, determining the corresponding levels
of alarm. Decision rules are:
1) Violence detection possesses the highest weight accord-
ing to the feature of the energy curve.
2) The ROI has no more than one blob to prevent the
interference from other people waiting behind the yellow line
when the customer is operating;
2) The size of the blob accords with normal activities
of human being. This rule prevents the ATM from being
operated by more than one person at a time;
3) The time of the blob staying in the area should not go
beyond the threshold to prevent malicious operations.
The system denes three levels of alarm to describe the
degree of abnormality respectively. The Red Alarm means
violence. The Yellow Alarm means minor violation, eg.
crossing the yellow line and occasional interruptions to
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Fig. 3 Logical Flowchart
customers in operation. The Orange Alarm means serious
violation, which is the interim statue from normal to violence.
The following situations fall in the category of Orange
warning:
1) Loitering in the sensitive area;
2) More than one person being operation on the ATM or
exceeding the time threshold;
3) Dramatic uctuation and fast rising in the energy curve.
III. VIDEO ENERGY
A video is a stream of varying image sequence. The
difference between proximate frames reects a part of objects
posture changes and movement in view. The object motion
is the processing of energy release and exchange. Different
human behavior shows different energy feature. Therefore,
video energy can be used to describe the characteristics of
human behaviors in the vision. And, mining more energy
from the video stream is the core of this system.
Relative to the slow-paced normal behaviors, an action
with unusual high speed will be considered as an abnormality.
It is clear that an object with high speed contains more
kinetic energy. Then the motion speed is the feature we
need. Furthermore, violence is a complex body motion. How
to describe the complexity is our essential work. Thus, a
weighted kinetic energy is proposed.
A. Denition of Weighted Kinetic Energy
In the previous work, weve discussed Motion Feature
obtained by tracking corners from a video stream through the
optical ow algorithm. Recently, more accuracy optical ow
algorithms are proposed. For instance, Xiao et al.[13] gives
a bilateral ltering based approach, which has high accuracy
of building motion eld. But the computational time is rather
long. Take into consideration the real-time requirement, we
use Lucas-Kanade[14] and Horn-Schunck optical ow algo-
rithm [15]. We have adopted the energy-based methods for
crowd estimation in a metro video surveillance system. Here,
we should review the Motion Features based on optical ow
motion eld shown in Table 1.
TABLE I
MOTION FEATURES
Symbol Description
1 x horizontal position of Motion Feature
2 y vertical position of Motion Feature
3 x derivative of x
4 y derivative of y
5 v magnitude of the velocity
6 angle orientation of the velocity
7 angle difference orientation
8 d
2
x derivative of dx
9 d
2
y derivative of dy
We extract the kinetic energy from video to estimate crowd
degree according to the equation below:
E(n) =
W

i=1
H

j=1
w
i,j
(n) v
2
i,j
(n) (1)
The parameter v
i,j
(n) is the velocity of the (ith, jth)
pixel in the nth frame (Width = W, Height = H) and
the coefcient w
i,j
(n) is obtained from the blob area of the
current frame to describe the number of people in the blob.
This equation has been dened and discussed in[11], [12] in
full length.
In this paper, the same equation is used. The coefcient of
kinetic energy w
i,j
(n) should be reset for the identication of
violence like collision, rotation and vibration occur constantly
in the process of the human body movements. Therefore,
our question focuses on how to describe the discordance and
complexity of motion. For this purpose, we should analyze
the angle component of optical ow motion eld.
B. Angle Field Analysis
The phrase angle component in a motion eld, referred to
as the Angle Field for short, can be received from following
steps:
1) Calculate horizontal u
i,j
(n) and vertical v
i,j
(n) com-
ponents in complex form of every pixel in current frame,
u
i,j
(n) + j v
i,j
(n).
2) Get the velocity component by the complex modu-
lus(magnitude) of the complex matrix, V
i,j
(n) = |u
i,j
(n) +
j v
i,j
(n)|. Make a MASK(n) by setting a certain threshold
V
min
on velocity component matrix.
3) Get angle component by the phase angle of the complex
matrix. Use the MASK(n) to obtain the nal Angle Field,
A
i,j
(n) = arctan
u
i,j
(n)
v
i,j
(n)
MASK
i,j
(n). The usage of the
Mask is to reduce the noise from the background.
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Fig. 4 Motion Field and Angle Distribution. The left four image is describe Normal Behaviors and the right four is Abnormal Behaviors.
The sub-gure(a) is current frame. The (b) is the optical ow eld. The red point in (b) indicate the pixel with highest velocity. The
position mostly located in head and limbs, and change frequently along with the object posture. The (d) is the zoomed image from the
red box in (b) to show detail around the red point. The (c) is the histogram of angle eld.
Fig.4 shows the angle distributing of the normal and abnor-
mal situation separately. The angle concentrated in a certain
direction when the object moving in the view normally. When
aggressive events occurring, the angle eld presents average
distribution. Next, we use two coefcients to describe the
angle discordance.
C. Weighted Coefcients Design
In our algorithm, two coefcients are adopted. The rst
is Angle in the Table. 1, which indicates the angle differ-
ence between proximate frames. The second is designed to
represent the inconsistency of angle in the current frame.
To achieve this purpose, we need an angle value for the
benchmark. There are three kinds of angle which can be con-
sidered as the benchmark. The rst is the average direction
that represents the common motion direction of each body
part. The second one is the motion direction of the object
centroid, which shows the general motion trend of the object.
And the one we adopted is the direction of the pixel with
the highest speed. Because it is situated in the most intense
conicting region, to which we should pay much attention.
We named the coefcient AngleM, which can be ob-
tained from following steps:
1) Find the pixel with the highest speed, and use its angle
as the benchmark angle

AngleMax;
2) Calculate the difference of all pixel in the ow eld
with the

AngleMax Eq.(2);
AngleM
i,j
(n) = A
i,j
(n)

AngleMax (2)
3) Some element in the matrix of AngleM
i,j
(n) should
round into the range of (, ). if the value of AngleM
i,j
less than or big than , then add 2 or 2 on it. The
AngleM
i,j
(n) is the absolute difference to the benchmark
angle.
4) Before application, we should normalize coefcients
in the range of (0, 1). Firstly, Calculate absolute matrix of
AngleM
i,j
(n), and divide the AngleM
i,j
(n) by .
In order to exaggerate the weight effect for better classi-
cation performance, we can use two weight approaches, such
as (A)Eq.(3):
w
i,j
(n) = (1 +
|Angle
i,j
(n)|

+
|AngleM
i,j
(n)|

)
2
(3)
and (B)Eq.(4):
w
i,j
(n) = (
|Angle
i,j
(n)|

10)
2
+(
|AngleM
i,j
(n)|

10)
2
(4)
Comparing the Eq.1, the Weighted Kinetic Energy wE of
nth frame is obtained from the equation Eq.5 below:
wE(n) =
W

i=1
H

j=1
w
i,j
(n) v
i,j
(n)
2
MASK
i,j
(n) (5)
TABLE II
EXPERIMENT DESIGN
Parameters Value
Video Signal
1 Video resolution 576 720pix
2 Down sampled resolution 120 160pix
3 Frame rate 25fps
4 Time threshold of the blob stay 10s
5 Velocity threshold for Mask 0.01
Software platform
1 OS Windows XP
2 Simulation environment Matlab 2007a, Simulink
Hardware platform
1 CPU Inter D-Core 2140
2 Memory DDR II 667 2G
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Fig. 5 Comparison of Energy Curves. These curves are obtained from different optical ow algorithm and weight approaches. The
comparison result will help to chose the best energy extraction method. The red line indicates the time when the abnormality occurs. The
sub-gure under the chart shows the snapshot of a clip contained violence.
IV. EXPERIMENTS
We randomly surveyed 30 ATM outlets in NanShan district
of ShenZhen, a big city in south China, for installation
information and experimental videos of ATM surveillance
systems. The position and number of camera rely on the
shape and space of the ATM booth to meet the requirements
of face identication and event recording. The realistic video
dataset of robberies and other abnormal events at ATMs is
rather difcult to collect. When we viewed and analyzed
clips of actual cases downloaded from network, We found
that those cases occur in different scenes, the position of
camera and the quality of video is varies considerably with
the position of camera and location s where those case occur.
For the comparability of experimental result, we imitate those
real events and act them out in a same camera location to
test our algorithm.
A. Experiment Designation
A traditional CCTV video surveillance system is installed
in the laboratory to simulate the ATM scene as shown in
Fig.5. The door of the lab is considered the location of
ATM and a yellow line is drawn 1m away from it outside
the door. The camera is placed on the top of the wall close
to the ATM to make sure that the customer operating on
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Fig. 6 ATM scene planform.
the ATM do not overlap the yellow line from the view of
camera. The experiment materials which consist of 21 video
clips running 20 to 30 seconds contain normal statues in the
rst part and several typical abnormal events such as fraud,
ghting, robbery and etc., in the second part.
Experiments information and parameters of the system is
listed in Table 2:
B. Comparison and Analysis
Fig.6 shows the performance that the Weighted Kinetic
Energy describes Aggressive Behaviors in a clip recoding
4 people ghting. As the gure shows, when abnormality
occurs (around the 269th frame as the red line indicated), the
Original Kinetic Energy Curve[9](oKEn), the energy without
weights, which remained in stationary state as in the previous
normal situation. but, the Weighted Energy Curve(wKEn)
uctuate drastically and rise to high value within a few
frames. There are two high energy event occur around 80th
and 180th frame. The Energy value of Original Kinetic
Energy curve is close to 2500, and the value of Weighted
Energy Curve is 2800. The proportion of two energy is
(1 : 1.2). When the real abnormal event occur, the proportion
is raise to (1 : 3 6). It means, the weighted method can
restrain the weight when a high speed but not complex motion
is happen, but spirit up the weight when a noticeable event
occur.
The difference between the Weighted and the Original
Curve is enlarged in the abnormal part because of the
disorder degree motion direction. The sub gure (1) and
(2) is the energy curve obtained from Lucas-Kanade and
Horn-Schunck Method separately. We chose Horn-Schunck
algorithm, because those curves between 150th 200th
frames prove to be rather robust in normal part. Another
comparison is made between two weighted approaches (A)
Fig. 7 Wavelet Analysis. The upper sub-gure is the energy
curve computer by Horn-Schunck algorithm and weight
approach(B). The 3-level Approximation in the 2nd gure indicate
that there is more energy when violence occur, and the 1-level
detail indicate that the energy vary acutely in the abnormal part.
Eq.(3)and (B) Eq.(4). Noticed that, comparing to the (A), the
curve based on weighted approach (B) performs more robust
in normal part and more sensitive in the real, the abnormal
part, Which is what we want. Finally, the energy extraction
approach we chosen is based on weighted method(B) and
Horn-Schunck optical ow algorithm.
Furthermore, Stationary Wavelet Transform(SWT)[16] is
employed to analyze the energy curve and the sym4 of the
Symlets wavelet family to perform 3-level signal decompo-
sition. In Fig.7, the 3rd level Approximation coefcient of
the energy curve shows there is more energy generating when
aggressive behavior occurs. As for the 1st level detail coef-
cient (the lowest sub-gure), when adopting 1-dimensional
variance adaptive threshold on it, the boundary(located in the
271st frame) between two parts with different variance is
quite close to the frame of abnormal event start. From these
result it is clear that we even need not use machine learning
approaches to distinguish the abnormal from the normal as
an energy threshold value is good enough to do the job. In
this experiment, the threshold value of Orange and Red alarm
are dened as 0.5 10
4
and 0.7 10
4
respectively.
V. RESULT AND DISCUSSION
The following group of gures in Fig.8 show that cor-
responding alarms respond to the contents and the statistic
of experimental results in Table 3. The system performs
with a low rate of False Negative(FP.) and a high rate of
False Positive(NP.), which means that the system is quite
sensitive to abnormal events, but sometimes it overreacts to
2885
Fig. 8 Snapshots of experimental results. The semitransparent
yellow region is the sensitive area we dened at beginning. The
rectangle on the people means that their motion is being tracked.
The Yellow Alarm indicates that someone is striding over the
yellow line when a customer is operating on the ATM. The Red
Alarm warns of the occurrence of violence. The left sub-gure of
Orange alarm indicate more than one customer in the area, and
the right sub-gure shows the interim of violence behaviors.
normal situations. Due to imperfections of the calibration
algorithm, such False Positives occur mainly in the normal
part of the video when a customer walks close to the
ATM. The False Negative of Nonviolent cases is lower than
that of Violent events because Nonviolent crime detection
mainly relies on the object tracking, which is more robust
than energy approach for aggressive behavior detection. The
system output frame rate is around 911fps, which satises
the real-time requirement.
The proposed energy-based algorithm processes a promi-
nent performance in solving the problem of aggressive be-
haviors detection. The novel weighted method is not just a
description of the entropy of velocity histogram. It focuses
on the pixel with max velocity in eld and its relationship
TABLE III
RESULT
Case Type Clips Num. Frame Num. FP. FN.
1 Normal 4 2000 3.8 0
2 Fraud 5 3775 2.7 1.5
3 Fight 7 4200 2.1 1.7
4 Robbery 4 1700 3.6 2.3
with other pixels which represents the important feature
of aggressive behavior. The structure of the system has
been proven effective in Non-violent and violent abnormality
detection at ATMs. To enhance the robustness of the ATM
surveillance system, our future work will be concentrated on
the following three aspects. Firstly, the approach of energy
mining should be improved for describing the abnormal situa-
tion in certain scene. Secondly, a robust calibration algorithm
should be considered to reduce the false positive rate. Finally,
a appropriate feature extraction and analysis methods of
energy curve will discover more valuable information about
abnormality in video. The intelligence level of the system
should be updated by introducing machine learning and fuzzy
decision rule in complex event recognition.
ACKNOWLEDGMENT
The authors would like to acknowledge Dr. Weizhong Ye in
The Chinese University of Hong Kong. The authors also wish
to thank Mr. Huihuan Qian for his insightful suggestions,
and other colleagues in Advanced Robotics Laboratory, at
The Chinese University of Hong Kong, for their help, and
encouragement.
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