ABSTRACT
Tiny hidden spy cameras concealed in sensitive locations including hotels and bathrooms are becoming a significant threat worldwide. These hidden cameras are easily purchasable and are extremely difficult to find with the naked eye due to their small form factor. The state-of-the-art solutions that aim to detect these cameras are limited as they require specialized equipment and yield low detection rates. Recent academic works propose to analyze the wireless traffic that hidden cameras generate. These proposals, however, are also limited because they assume wireless video streaming, while only being able to detect the presence of the hidden cameras, and not their locations. To overcome these limitations, we present LAPD, a novel hidden camera detection and localization system that leverages the time-of-flight (ToF) sensor on commodity smartphones. We implement LAPD as a smartphone app that emits laser signals from the ToF sensor, and use computer vision and machine learning techniques to locate the unique reflections from hidden cameras. We evaluate LAPD through comprehensive real-world experiments by recruiting 379 participants and observe that LAPD achieves an 88.9% hidden camera detection rate, while using just the naked eye yields only a 46.0% hidden camera detection rate.
- 3M. 2004. Reflectivity. https://multimedia.3m.com/mws/media/295767O/reflectivity-flyer.pdfGoogle Scholar
- Shaffiq Alkhatib. 2020. Man Used Secret Cameras Disguised as Pens to Record Nude Videos of Female Friends 'for Fun'. The Straits Times (Nov. 2020).Google Scholar
- Amazon. 2021. Hidden Camera - Mini Spy Camera 1080p HD Spy Cam Pen 2.5 Hours Video Taking Battery Life with 32GB Memory for Business Conference and Security. https://bit.ly/3z3ZOWf.Google Scholar
- Amazon. 2021. Hidden Camera Detector - Anti Spy Finder with The Largest Infrared Viewer and Brightest LEDs. Travel Size Pro Security and Privacy for AirBnB, Hotels, Bathrooms. Searches 2X Faster Than Other Models. https://bit.ly/3poPaF83.Google Scholar
- Amazon. 2021. Hidden Camera Detector, RF Detector& Camera Finder, Bug Detector, Counter Surveillance, Anti Spy Camera Detectors with Compass, Locates Hidden Device in Office, Hotel Rooms, Airbnb Excursions, Bathrooms. https://bit.ly/3z4l6Di.Google Scholar
- Amazon. 2021. Innoo Tech Anti Spy Detector & Camera Finder RF Signal Detector GPS Bug Detector Hidden Camera Detector for GSM Tracking Device GPS Radar Radio Frequency Detector. https://bit.ly/2Sa33L2.Google Scholar
- Amazon. 2021. Mini Spy Camera Wireless Hidden, MHDYT Full HD 1080P Portable Small Covert Home Nanny Cam with Motion Detection and Night Vision, Indoor/Outdoor Micro Security Surveillance Hidden Camera. https://bit.ly/3pvXdQE.Google Scholar
- Apple. 2021. Creating a Multiuser AR Experience | Apple Developer Documentation. https://developer.apple.com/documentation/arkit/creating_a_multiuser_ar_experienceGoogle Scholar
- Arducam. 2015. Amazon.Com: Arducam Mini Module Camera Shield with OV2640 2 Megapixels Lens for Arduino UNO Mega2560 Board and Raspberry Pi Pico: Industrial & Scientific. https://www.amazon.com/Arducam-Module-Megapixels-Arduino-Mega2560/dp/B012UXNDOY/ref=sr_1_8?dchild=1&keywords=OV2640&qid=1622714789&sr=8-8Google Scholar
- Avidbots Corp. 2021. Avidbots | Robotic Cleaning Machine - Auto Floor Scrubber. https://www.avidbots.com/Google Scholar
- Bellus3D. 2021. FaceApp. http://www.bellus3d.com/faceappGoogle Scholar
- Jeffrey R.S. Brownson. 2014. Chapter 03 - Laws of Light. In Solar Energy Conversion Systems, Jeffrey R.S. Brownson (Ed.). Academic Press, Boston, 41--66. https://doi.org/10.1016/B978-0-12-397021-3.00003-XGoogle Scholar
- Business Wire. 2021. Strategy Analytics: Samsung Galaxy S20+ 5G is World's No.1 5G Smartphone Model by Revenue in H1 2020. https://www.businesswire.com/news/home/20201027006174/en/Strategy-Analytics-Samsung-Galaxy-S20-5G-is-Worlds-No.1-5G-Smartphone-Model-by-Revenue-in-H1-2020Google Scholar
- Kang Chen, Yu-Kun Lai, and Shi-Min Hu. 2015. 3D indoor scene modeling from RGB-D data: a survey. Computational Visual Media 1, 4 (2015), 267--278.Google Scholar
Cross Ref
- Yushi Cheng, Xiaoyu Ji, Tianyang Lu, and Wenyuan Xu. 2018. DeWiCam: Detecting Hidden Wireless Cameras via Smartphones. In Proceedings of the 2018 on Asia Conference on Computer and Communications Security (ASIACCS '18). Association for Computing Machinery, New York, NY, USA, 1--13. https://doi.org/10.1145/3196494.3196509Google Scholar
Digital Library
- Y. Cheng, Xiaoyu Ji, Tianyang Lu, and W. Xu. 2020. On Detecting Hidden Wireless Cameras: A Traffic Pattern-based Approach. IEEE Transactions on Mobile Computing 19 (2020), 907--921.Google Scholar
Digital Library
- François Chollet et al. 2015. Keras. https://keras.io.Google Scholar
- Christopher Mendez Martinez. 2020. A Super Easy Security Camera With the ESP32 CAM - Hackster.Io. https://www.hackster.io/mcmchris/a-super-easy-security-camera-with-the-esp32-cam-02ac43Google Scholar
- Peter Clarke. 2019. 3D ToF Sensor Aims at Mobile Authentication. https://www.eenewsanalog.com/news/3d-tof-sensor-aims-mobile-authenticationGoogle Scholar
- Stephanie Condon. 2021. Samsung Galaxy S20 Plus dominates 5G phone market in the US. https://www.zdnet.com/article/samsung-galaxy-s20-plus-dominates-5g-phone-market-in-the-us/Google Scholar
- Derek Ward. 2019. Hidden Camera Detectors Tested. https://ipvm.com/reports/hidden-cameras-finderGoogle Scholar
- Stacey Dooley. 2020. Stacey Dooley Investigates: 'My Daughter Was Tormented by Spycam Sex Crime'. BBC Three (April 2020).Google Scholar
- Eliana Brzozowski, Stefan Vogel, and Jochen Penne. 2020. State-of-the-Art Photography and Immersive AR/MR Experiences: REAL3T 3D ToF Imager with Longest Range in the Market. https://www.infineon.com/dgdl/Infineon-eeTimes_Europe_ToF_coverstory-Article-v01_00-EN.pdf?fileId=5546d46276c4f5350176f64937681034Google Scholar
- Nikolas Engelhard, Felix Endres, Jürgen Hess, Jürgen Sturm, and Wolfram Burgard. 2011. Real-time 3D visual SLAM with a hand-held RGB-D camera. In Proc. of the RGB-D Workshop on 3D Perception in Robotics at the European Robotics Forum, Vasteras, Sweden, Vol. 180. 1--15.Google Scholar
- Martín Abadi et al. 2015. TensorFlow: Large-Scale Machine Learning on Heterogeneous Systems. https://www.tensorflow.org/ Software available from tensorflow.org.Google Scholar
- R Fisher, S Perkins, A Walker, and E Wolfart. 2003. Glossary- Pixel Connectivity. https://homepages.inf.ed.ac.uk/rbf/HIPR2/connect.htmGoogle Scholar
- Google. 2018. ARCore. https://developers.google.com/arGoogle Scholar
- Google. 2020. Measure - Apps on Google Play. https://play.google.com/store/apps/details?id=com.google.tango.measure&hl=en&gl=USGoogle Scholar
- Google. 2021. Cloud Anchors Overview for Android | ARCore. https://developers.google.com/ar/develop/java/cloud-anchors/overview-androidGoogle Scholar
- Google. 2021. Google/Battery-Historian. Google. https://github.com/google/battery-historianGoogle Scholar
- Amy Gunia. 2019. Tourist Charged After Spycam Found in Bondi Beach Hostel. Time (March 2019).Google Scholar
- B & H. 2021. Hidden & Spy Cameras. https://www.bhphotovideo.com/c/buy/Hidden-Cameras/ci/18682/N/4045021092.Google Scholar
- Emily Haavik. 2019. 'Recording Devices' Reported by Students in Some Minneapolis Hyatt Regency Rooms. kare11.com (Dec. 2019).Google Scholar
- Sifeng He, Y. Meng, and M. Gong. 2018. Active laser detection system for recognizing surveillance devices. Optics Communications 426 (2018), 313--324.Google Scholar
Cross Ref
- Peter Henry, Michael Krainin, Evan Herbst, Xiaofeng Ren, and Dieter Fox. 2014. RGB-D mapping: Using depth cameras for dense 3D modeling of indoor environments. In Experimental robotics. Springer, 477--491.Google Scholar
- Gibson Hu, Shoudong Huang, Liang Zhao, Alen Alempijevic, and Gamini Dissanayake. 2012. A robust rgb-d slam algorithm. In 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems. IEEE, 1714--1719.Google Scholar
Cross Ref
- Huawei. 2019. HUAWEI P30 Pro Specifications. https://consumer.huawei.com/sg/phones/p30-pro/specs/Google Scholar
- Tech Insights. 2021. Sony d-ToF Sensor found in Apple's new LiDAR camera. https://www.techinsights.com/blog/sony-d-tof-sensor-found-apples-new-lidar-camera.Google Scholar
- Adam Juniper. 2021. Best hidden camera detector in 2021: hunt out bugs, trackers and spy cams. https://www.digitalcameraworld.com/buying-guides/best-hidden-camera-detector.Google Scholar
- Cem Keskin, Furkan Kiraç, Yunus Emre Kara, and Lale Akarun. 2013. Real time hand pose estimation using depth sensors. In Consumer depth cameras for computer vision. Springer, 119--137.Google Scholar
- Diederik P. Kingma and Jimmy Ba. 2017. Adam: A Method for Stochastic Optimization. arXiv:1412.6980 [cs] (Jan. 2017). arXiv:1412.6980 [cs]Google Scholar
- Denis Koshelev. 2021. What is a ToF camera and how modern smartphones use it. https://root-nation.com/en/articles-en/tech-en/en-what-is-a-tof-camera/.Google Scholar
- Alexey Kurakin, Zhengyou Zhang, and Zicheng Liu. 2012. A real time system for dynamic hand gesture recognition with a depth sensor. In 2012 Proceedings of the 20th European signal processing conference (EUSIPCO). IEEE, 1975--1979.Google Scholar
- Brent Lagesse, K. Wu, Jaynie Shorb, and Zealous Zhu. 2018. Automated Hidden Sensor Detection in Sensor-Rich Spaces. 2018 IEEE International Conference on Pervasive Computing and Communications Workshops (PerCom Workshops) (2018), 433--435.Google Scholar
- Larry Li. 2014. Time-of-Flight Camera - An Introduction. Technical Report. Texas Instruments. https://www.ti.com/lit/wp/sloa190b/sloa190b.pdfGoogle Scholar
- LG USA. 2020. LG V60 ThinQ™ 5G | T-Mobile (LMV600TMLATMOCB). https://www.lg.com/us/cell-phones/lg-lmv600tmlatmocb-tmobile-v60-thinq-5gGoogle Scholar
- L. Li, J. Ren, and Xingbin Wang. 2015. Fast cat-eye effect target recognition based on saliency extraction. Optics Communications 350 (2015), 33--39.Google Scholar
Cross Ref
- Zhijing Li, Zhujun Xiao, Yanzi Zhu, Irene Pattarachanyakul, B. Zhao, and H. Zheng. 2018. Adversarial Localization against Wireless Cameras. Proceedings of the 19th International Workshop on Mobile Computing Systems & Applications (2018).Google Scholar
Digital Library
- Zhengxiong Li, Zhuolin Yang, C. Song, C. Li, Zhengyu Peng, and W. Xu. 2018. E-Eye: Hidden Electronics Recognition through mmWave Nonlinear Effects. Proceedings of the 16th ACM Conference on Embedded Networked Sensor Systems (2018).Google Scholar
Digital Library
- Bin Liang and Lihong Zheng. 2015. A survey on human action recognition using depth sensors. In 2015 International conference on digital image computing: techniques and applications (DICTA). IEEE, 1--8.Google Scholar
Cross Ref
- Jeong-Yeo Lim. 2017. Hidden Camera at Airbnb House in Japan Catches Korean Couple off Guard. The Jakarta Post (July 2017).Google Scholar
- LionsBot. 2018. LionsBot. https://www.lionsbot.com/about/Google Scholar
- Steve Litz. 2019. Tourist Says He Found Hidden Cameras in Miami Airbnb. NBC 6 South Florida (Jan. 2019).Google Scholar
- Chongxing Liu, Changming Zhao, Haiyang Zhang, Zilong Zhang, Z. Cai, and Zhi peng Li. 2019. Spectrum classification using convolutional neural networks for a mini-camera detection system. Applied optics 58 33 (2019), 9230--9239.Google Scholar
- Chongxing Liu, Changming Zhao, H. Zhang, Zilong Zhang, S. Gao, and Yunshi Wang. 2019. Analysis of Mini-Camera's Cat-Eye Retro-Reflection for Characterization of Diffraction Rings and Arrayed Spots. IEEE Photonics Journal 11 (2019), 1--12.Google Scholar
Cross Ref
- C. Liu, Changming Zhao, H. Zhang, Zilong Zhang, Yanwang Zhai, and Yali Zhang. 2019. Design of an Active Laser Mini-Camera Detection System Using CNN. IEEE Photonics Journal 11 (2019), 1--12.Google Scholar
Cross Ref
- Tian Liu, Ziyu Liu, Jun Huang, Rui Tan, and Zhen Tan. 2018. Detecting Wireless Spy Cameras Via Stimulating and Probing. In Proceedings of the 16th Annual International Conference on Mobile Systems, Applications, and Services. ACM, Munich Germany, 243--255. https://doi.org/10.1145/3210240.3210332Google Scholar
Digital Library
- Mohd Yazid Abd Manap, Rohilah Sahak, Azlee Zabidi, Ihsan M. Yassin, and Nooritawati Md. Tahir. 2015. Object detection using depth information from Kinect sensor. 2015 IEEE 11th International Colloquium on Signal Processing & Its Applications (CSPA) (2015), 160--163.Google Scholar
- Giulio Marin. 2013. Confidence Estimation of ToF and Stereo Data for 3D Data Fusion. Stima della Confidenza delle Misure Ottenute da Sensori ToF e da Sistemi Stereo per la Fusione di Dati 3D. (2013). https://core.ac.uk/display/18229006Google Scholar
- Tiffany May and Su-Hyun Lee. 2019. 1,600 Motel Guests Were Secretly Streamed Live in South Korea, Police Say (Published 2019). The New York Times (March 2019).Google Scholar
- T. J. McCue. 2019. How To Find A Hidden Camera In Your House Or Airbnb Or Anywhere. Forbes (Oct. 2019). https://www.forbes.com/sites/tjmccue/2019/10/30/how-to-find-a-hidden-camera-in-your-house-or-airbnb-or-anywhere/?sh=24f63b5a1860Google Scholar
- Niluthpol Chowdhury Mithun, Sirajum Munir, Karen Guo, and Charles Shelton. 2018. ODDS: Real-Time Object Detection Using Depth Sensors on Embedded GPUs. 2018 17th ACM/IEEE International Conference on Information Processing in Sensor Networks (IPSN) (2018), 230--241.Google Scholar
- Mordor Intelligence. 2021. Time-of-Flight (TOF) Sensor Market | 2021-2026 | Industry Report | Covid Insights. https://www.mordorintelligence.com/industry-reports/time-of-flight-sensor-marketGoogle Scholar
- Esha Nerurkar, Simon Lynen, and Sheng Zhao. 2017. System and Method for Concurrent Odometry and Mapping.Google Scholar
- BBC News. 2019. Goo Hara and the Trauma of South Korea's Spy Cam Victims. BBC News (Nov. 2019).Google Scholar
- Niantic. 2020. Pokémon GO. https://niantic.helpshift.com/a/pokemon-go/?s=accessories&f=catching-pokemon-in-ar-mode&l=en&p=webGoogle Scholar
- The Times of India. 2019. Tourists Find Hidden Camera in Uttarakhand Hotel Room Dehradun News - Times of India. The Times of India (May 2019).Google Scholar
- Omnivision. 2006. OV2640 Datasheet. Technical Report. 47 pages. https://www.uctronics.com/download/cam_module/OV2640DS.pdfGoogle Scholar
- South China Morning Post. 2019. As South Korea Confronts 'Spycam Porn', Pressure Builds on Retailers. South China Morning Post (March 2019).Google Scholar
- Lubos Vonasek Programmierung. 2021. 3D Live Scanner - Apps on Google Play. https://play.google.com/store/apps/details?id=com.lvonasek.arcore3dscanner&hl=en_SG&gl=USGoogle Scholar
- Feng Qian, Bao Zhang, Chuanli Yin, Mingyu Yang, and X. Li. 2015. Recognition of interior photoelectric devices by using dual criteria of shape and local texture. Optical Engineering 54 (2015).Google Scholar
- Ray Fontaine. 2019. Imaging + Sensing End-of-Year Highlights | TechInsights. https://www.techinsights.com/blog/imaging-sensing-end-year-highlights.Google Scholar
- Ximing Ren and L. Li. 2011. Recognizing cat-eye targets with dual criterions of shape and modulation frequency. Chinese Optics Letters 9 (2011), 041101--41104.Google Scholar
Cross Ref
- Retia. 2021. How to Set Up a Wi-Fi Spy Camera with an ESP32-CAM ≪ Null Byte: WonderHowTo. https://null-byte.wonderhowto.com/how-to/set-up-wi-fi-spy-camera-with-esp32-cam-0246590/Google Scholar
- Marc Roessler. 2002. How to find hidden cameras.Google Scholar
- Laurel C. Sadler and T. Alexander. 2010. Mobile optical detection system for counter-surveillance. In Defense + Commercial Sensing.Google Scholar
- Samsung. 2020. What Is DepthVision Camera on Galaxy S20 + and S20 Ultra?-The Official Samsung Galaxy Site. https://www.samsung.com/global/galaxy/what-is/depthvision-camera/Google Scholar
- Akash Deep Singh, L. Garcia, Joseph Noor, and M. Srivastava. 2020. I Always Feel Like Somebody's Sensing Me! A Framework to Detect, Identify, and Localize Clandestine Wireless Sensors. ArXiv abs/2005.03068 (2020).Google Scholar
- SoftBank Robotics. 2021. Commercial Cleaning Robots | SoftBank Robotics America. https://us.softbankrobotics.com/solutions/commercial-cleaningGoogle Scholar
- Detective Store. 2021. Camera detectors. https://www.detective-store.com/cameras-detectors-224.Google Scholar
- Susannah Sudborough. 2019. Cape Cod Resort Employee Used Secret Camera to Film Women Showering: Police. NBC Boston (Feb. 2019).Google Scholar
- Susrutha Babu Sukhavasi, Suparshya Babu Sukhavasi, Khaled Elleithy, Shakour Abuzneid, and Abdelrahman Elleithy. 2021. CMOS Image Sensors in Surveillance System Applications. Sensors 21, 2 (Jan. 2021), 488. https://doi.org/10.3390/s21020488Google Scholar
Cross Ref
- Daniel Svedbrand, L. Allard, Magnus Pettersson, Pontus Köhler, M. Henriksson, and Lars-Göran Sjökvist. 2019. Optics detection using an avalanche photo diode array and the scanning-slit-method. In Security + Defence.Google Scholar
- Shuai Tang, Xiaoyu Wang, Xutao Lv, Tony X. Han, James Keller, Zhihai He, Marjorie Skubic, and Shihong Lao. 2013. Histogram of Oriented Normal Vectors for Object Recognition with a Depth Sensor. In Computer Vision - ACCV 2012, Kyoung Mu Lee, Yasuyuki Matsushita, James M. Rehg, and Zhanyi Hu (Eds.). Springer Berlin Heidelberg, Berlin, Heidelberg, 525--538.Google Scholar
- Techlicious. 2019. The Secrets to Finding Hidden Cameras.Google Scholar
- Maggie Tillman. 2021. What is a ToF camera? Time-of-flight sensor and photography explained. https://www.pocket-lint.com/phones/news/147024-what-is-a-time-of-flight-camera-and-which-phones-have-it.Google Scholar
- The Straits Times. 2019. South Korea Spycam Crimes Put Hidden Camera Industry under Scrutiny. The Straits Times (March 2019).Google Scholar
- Yan Wen, Chuanyan Hu, Guanghui Yu, and Changbo Wang. 2012. A robust method of detecting hand gestures using depth sensors. In 2012 IEEE International Workshop on Haptic Audio Visual Environments and Games (HAVE 2012) Proceedings. IEEE, 72--77.Google Scholar
Cross Ref
- Damien Wilde. 2021. Unsurprisingly, the Samsung Galaxy S20+ is the top-selling 5G smartphone in the US. https://9to5google.com/2020/05/21/galaxy-s20-5g-sales-us/Google Scholar
- Robert Williams. 2020. Samsung Galaxy S20+ outsells all other 5G phones, study finds. https://www.marketingdive.com/news/samsung-galaxy-s20-outsells-all-other-5g-phones-study-finds/578560/Google Scholar
- K. Wu. 2018. Detecting Streaming Wireless Cameras with Timing Analysis.Google Scholar
- K. Wu and Brent Lagesse. 2019. Do You See What I See? Detecting Hidden Streaming Cameras Through Similarity of Simultaneous Observation. 2019 IEEE International Conference on Pervasive Computing and Communications (PerCom (2019), 1--10.Google Scholar
- Kesheng Wu, Ekow Otoo, and Kenji Suzuki. 2005. Two Strategies to Speed up Connected Component LabelingAlgorithms. Pattern Analysis Application 0, 0 (11 2005). https://www.osti.gov/biblio/929013Google Scholar
- Xiuxin. 2019. Amazon.Com: 2 Pack ESP32-CAM WiFi Bluetooth Camera Module Development Board ESP32 with Camera Module OV2640: Computers & Accessories. https://www.amazon.com/ESP32-CAM-Bluetooth-Camera-Module-Development/dp/B07S5PVZKVGoogle Scholar
- Yida. 2020. What is a Time of Flight Sensor and How does a ToF Sensor work? https://www.seeedstudio.com/blog/2020/01/08/what-is-a-time-of-flight-sensor-and-how-does-a-tof-sensor-work/Google Scholar
- X. Zhang and Feng Qian. 2017. A Fast Recognition Algorithm for Photoelectric Peeping Equipment. DEStech Transactions on Computer Science and Engineering (2017).Google Scholar
- Mandy Zuo. 2019. Hidden Hotel Cameras Lead to Arrests in China. South China Morning Post (June 2019).Google Scholar
Index Terms
LAPD: Hidden Spy Camera Detection using Smartphone Time-of-Flight Sensors
Recommendations
On Utilizing Smartphone Time-of-Flight Sensors to Detect Hidden Spy Cameras
SenSys '21: Proceedings of the 19th ACM Conference on Embedded Networked Sensor SystemsTiny spy cameras hidden in everyday objects are continuing to pose severe privacy threats to the general public as these cameras are often placed in sensitive locations such as hotels and restroom stalls. Commercially available "hidden camera detectors" ...
Are There Wireless Hidden Cameras Spying on Me?
ACSAC '22: Proceedings of the 38th Annual Computer Security Applications ConferenceThe proliferation of IoT devices has created risks of their abuse for unauthorized sensing/monitoring of our daily activities. Especially, the leakage of images taken by wireless spy cameras in sensitive spaces, such as hotel rooms, Airbnb rentals, ...
Applications for a people detection and tracking algorithm using a time-of-flight camera
This paper outlines a method and applications for detection and tracking of people in depth images, acquired with a low-resolution Time-of-Flight (ToF) camera. This depth sensor is placed perpendicular to the ground in order to provide distance ...





Comments