A new real-time eye tracking based on nonlinear unscented Kalman filter for monitoring driver fatigue-一种基于非线性无影响的Kalman过滤器，用于监测司机疲劳的实时眼球跟踪.pdfVIP

J Control Theory Appl 2010 8 (2) 181–188 DOI 10.1007/s11768-010-8043-0 A new real-time eye tracking based on nonlinear unscented Kalman filter for monitoring driver fatigue Zutao ZHANG 1,2 , Jiashu ZHANG 2 (1.School of Mechanical Engineering, Southwest Jiaotong University, Chengdu Sichuan 610031, China; 2.Sichuan Key Lab of Signal and Information Processing, Southwest Jiaotong University, Chengdu Sichuan 610031, China) Abstract: A new scheme for driver fatigue detection is presented, which is based on the nonlinear unscented Kalman filter and eye tracking. Assuming a probability distribution than to approximate an arbitrary nonlinear function or transfor- mation, eye nonlinear tracking can be achieved using an unscented transformation (UT), which adopts a set of deterministic sigma points to match the posterior probability density function of the eye movement. Driver fatigue can be detected using the percentage of eye closure (PERCLOS) framework in a realistic driving condition after the eye nonlinear tracking. This system was tested adequately in realistic driving environments with subjects of different genders, with/without glasses, in day/night driving, being commercial/noncommercial drivers, in continuous driving time, and under different road con- ditions. The last experimental results show that the proposed method not only improves the robustness for nonlinear eye tracking, but also can provide more accurate estimation than the traditional Kalman filter. Keywords: Eye tracking; Unscented Kal