Abstract: A system and a method for surveilling a scene including an allowed region and a restricted region are disclosed. In an embodiment, the system includes a visual sensor configured to capture a visual image of a scene, a thermal sensor configured to capture a thermal image of the scene and a distance measuring sensor configured to capture a distance image of the scene, the scene comprising an allowed region and a restricted region. The system further includes a processor configured to generate a combined image based on the visual image, the thermal image and the distance image, wherein an object in the scene is displayed as a representation in a visual image when in the allowed region and displayed as a representation in a thermal image when in the restricted region.