In the following figures we show several handwriting sequences acquired in real-time with our system and the corresponding pen down segments.

The presented system works in real-time at 60Hz and is able to track normally paced handwriting. The detection of the points in which the pen is traveling over the paper and not writing is obtained by using local measurements of the brightness of the image at the location in which the pen's ballpoint was found. The system has a 28.6% of misclassification of pen up's and a 5.33% of misclassification of pen down's.
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Mario Enrique Munich - mariomu AT vision DOT caltech DOT edu