Outline
Drive Monitoring System Based on
Non-contact Measurement System ofDriver’s Focus of Visual Attentiono Motivationo Related Works on Monitoring the Fixation Pointo Approacho System configurationo Methods of treating gaze information

Nara Institute of Science and Technology
Robotics Lab.
D2 Kentaro TAKEMURAo Experimentn Experiment of lane changes
n Experiment of driving at a curveo Conclusion & Future works

2004/05/27“Monitoring the fixation point of the driver”
o M. F. Land et al.

People use visual information everywhere.

(Sussex,1992)

Human -Human communication, Human -Computer interaction,Human -Robot interaction
oo2

Related Works

Motivation
oNAIST COE 2nd MeetingnA driver is gazing at the tangent point
while driving at a curve.

In order to develop interactive systems, we focus on using
attention-related information such as head pose, gaze
direction and fixation point.
We focus on interactive systems such as driving support andmeeting support.

o A. Liu et al. (MIT,1999)n

The ratio of time to look at theobjects(rear-view mirror, side mirror) varies
during lane changing.

o G. Salgian et al.

(Rochester,1997)
n2004/05/27NAIST COE 2nd Meeting

3Approach

The fixation point switches back andforth between the stop sign and thewhite line. The switch frequency
increases as the vehicle gets closer tothe intersection.

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Non-Contact Measurement System

Non-contact measurement system
Hardware configuration
Developed Experiment System

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Method 1:Using Gaze Information Inside the Car
Recognition of Fixated Object

Real-time Face Measurement System−1tan (Stereo Camera

In the daytime

In the night(Use of infrared LEDs)System featurenProcessing Speed30[Hz]nMeasurable range ±30[deg]nAccuracy of measurement
face position±2［mm］, face
direction ±2［deg］, gaze
direction±5［deg］
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The result of estimation
7Method 1:Using Gaze Information Inside the Car
Recognition of Fixated ObjectoLi−1 Pi ⋅ G) − cos () ≥02 PiPi G

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Method 2:Using Gaze Information Outside the Car
Panoramic Image with Superimposed Face and Gaze DirectionoVideooThe panoramic image is utilized to show the gaze information.
The scene cameras can be fixed to the vehicle, therefore it becomes
relatively easy to extract environment information.
Omnidirectional
Vision Sensor

Fixation point

Head direction

Road SceneRoad area

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9Method 2:Using Gaze Information Outside the Car
Quantification of the eye-movement of a drivero

It is important to record the road scene together with the fixation point.

oThe eye-movement of the fixation point is rather desultory.

oFixation map:The histogram of the distribution of the fixation point

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10Experiment of lane changing
oVideoReference: http://www.eyemark.jp /(D.S. Wooding et al.).

oFixation map is method of quantifying eye-movement traces

fn ( x, y) = gn + ξf n−1 ( x, y)
0 < ξ <1f1( x, y) = 0(n =1,2,3L)
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Experiment of lane changes

Experiment of driving at a curve[Left curve]
Relation between the direction of a head
and the yaw rate of the vehicle
Head movement during lane changing

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Frequency of gaze at the side mirror
and rear-view mirror

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13oo[Right curve]

Fixation maps while the vehicle
is moving into the curveHigh correlation between the yaw rate the head motion
Concentrating at tangent point

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14Conclusion & Future Workso We proposed a driver monitoring system which utilizes avision-based non-contact face tracking system together withomni-directional camera.
o The similar results reported in previous research was able to bemeasured by our non-contact measurement system.
o Since the system does not require any contact devices, it issuitable to develop a human interface for the driver.
o We plan to apply

Thank you for your attention

developed measurement system to driverassistance

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