System, method, and recording medium for tracking gaze with respect to a moving plane with a camera with respect to the moving plane

1. A gaze tracking system for tracking an eye gaze on a screen of a device including a camera, the system comprising:

a gaze vector calculating circuit configured to calculate a parametric equation of an eye gaze vector passing through a pupil of a user and an eye ball center of the user;

a coordinate change computing circuit configured to compute a first angle of the screen with respect to a fixed plane relative to the screen based on a preset angle of the screen and an object;

a plane calculating circuit configured to calculate a current plane of the screen based on the first angle and a position of the camera with respect to the screen; and

an intersection calculating circuit configured to calculate an intersection of the eye gaze vector calculated by the gaze vector calculating circuit with the current plane equation calculated by the plane calculating circuit.

2. The system of claim 1 , wherein the coordinate change computing circuit continuously computes a next angle of the screen based on the last angle of the screen.

3. The system of claim 1 , wherein the plane calculating circuit calculates the current plane of the screen based on the first angle and either an acute angle or an obtuse angle corresponding to the first angle.

4. The system of claim 1 , wherein the gaze vector calculating circuit and the coordinate change computing circuit only use inputs of the camera to calculate the parametric equation of the eye gaze vector and the first angle of the screen.

5. The system of claim 1 , wherein the object comprises a coordinate location of the pupil of the user.

6. The system of claim 1 , wherein the object comprises a fixed point in space.

7. The system of claim 1 , wherein the screen of the device rotates around a fixed axis.

8. The system of claim 1 , wherein the screen of the device rotates around a fixed axis such that a coordinate location of the location of the camera changes only in two coordinate directions.

9. The system of claim 1 , wherein the plane calculating circuit calculates the current plane of the screen based on a coordinate point using the first angle with a width of the screen and a length distance of the screen to the camera and either an acute angle or an obtuse angle corresponding to the first angle with the width of the screen and the length distance of the screen to the camera.

10. The system of claim 1 , wherein the coordinate change computing circuit computes the first angle one time as a one-time initialization, and

wherein the coordinate change computing circuit computes a next angle based on the first angle.

11. The system of claim 10 , wherein the coordinate change computing circuit computes the first angle one time as a one-time initialization,

wherein the coordinate change computing circuit computes a next angle based on the first angle, and

wherein the coordinate change computing circuit computes new angles based on the prior calculated angle.

12. The system of claim 11 , wherein the position of the eye corners comprises four points surrounding the position of the location of the pupil.

13. The system of claim 1 , wherein the gaze vector calculating circuit calculates the eye gaze vector by:

estimating a position of eye corners of the user and a location of the pupil in relation to the eye corners;

calculating the eye ball center of the user as a mid-point between the eye corners; and

determining the eye gaze vector as a vector passing through the eye ball center and the location of the pupil.

14. The system of claim 13 , wherein the position of the eye corners comprises two points on opposite sides of the location of the pupil.

15. A gaze tracking method for tracking an eye gaze on a screen of a device including a camera, the method comprising:

calculating a parametric equation of an eye gaze vector passing through a pupil of a user and an eye ball center of the user;

computing a first angle of the screen with respect to a fixed plane relative to the screen based on a preset angle of the screen and an object;

calculating a current plane of the screen based on the first angle and a position of the camera with respect to the screen; and

calculating an intersection of the eye gaze vector calculated by the calculating the parametric equation with the current plane equation calculated by the calculating the current plane,

wherein the computing continuously computes a next angle of the screen based on the last angle of the screen to track the eye gaze on the screen.

16. The method of claim 15 , wherein calculating the current plane calculates the current plane of the screen based on the first angle and either an acute angle or an obtuse angle corresponding to the first angle.

17. The method of claim 15 , wherein the calculating the gaze vector and the computing only use inputs of the camera to calculate the parametric equation of the eye gaze vector and the first angle of the screen.

18. The method of claim 15 , wherein the object comprises a coordinate location of the pupil of the user.

19. A non-transitory computer-readable recording medium recording a gaze tracking program for tracking an eye gaze on a screen of a device including a camera, the program causing a computer to perform:

calculating a parametric equation of an eye gaze vector passing through a pupil of a user and an eye ball center of the user;

computing a first angle of the screen with respect to a fixed plane relative to the screen based on a preset angle of the screen and an object;

calculating a current plane of the screen based on the first angle and a position of the camera with respect to the screen; and

calculating an intersection of the eye gaze vector calculated by the calculating the parametric equation with the current plane equation calculated by the calculating the current plane,

wherein the computing continuously computes a next angle of the screen based on the last angle of the screen to track the eye gaze on the screen.