An alarm system and method of protecting a property from intrusion is disclosed. The property can be a vehicle that includes the alarm system. The alarm system includes an exterior camera for obtaining an exterior camera image data, an interior camera for obtaining an interior camera image data, and a processor. The processor is configured to determine first threat indicator for a potential intruder from the exterior camera image data, determine a second threat indicator for the potential intruder from the interior camera image data, determine a fused threat estimate indicative of an intention of the potential intruder from the first threat indicator and the second threat indicator, determine a consolidated threat estimate from the fused threat estimate and a contextual information for the property, and provide an alarm to protect the property from intrusion based on the consolidated threat estimate.