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Eye tracking system and method

  • US 7,653,213 B2
  • Filed: 09/30/2005
  • Issued: 01/26/2010
  • Est. Priority Date: 03/31/2003
  • Status: Active Grant
First Claim
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1. A face tracking system for predicting the future position of a face comprising:

  • multiple cameras for observing a user, each camera carrying out the steps of;

    (a) providing a current prediction of the face position using facial features detected in a previous and current input image frame;

    (b) deriving a first covariance matrix from the current prediction and a previous covariance matrix;

    (c) utilizing said current prediction of the face position from step (a) and a Kalman filter to determine a corresponding projected point of the facial feature on the plane of at least one camera;

    (d) deriving a Jacobian of the projected points in said step (c);

    (e) deriving a residual covariance of the projected points in said step (c);

    (f) deriving a suitable filter gain for said Kalman filter;

    (g) deriving a suitable update coefficients for said first covariance matrix;

    (h) updating said Kalman filter utilizing said filter gain.

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