CN104089606A - Free space eye tracking measurement method - Google Patents
Free space eye tracking measurement method Download PDFInfo
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- CN104089606A CN104089606A CN201410310038.9A CN201410310038A CN104089606A CN 104089606 A CN104089606 A CN 104089606A CN 201410310038 A CN201410310038 A CN 201410310038A CN 104089606 A CN104089606 A CN 104089606A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S3/00—Direction-finders for determining the direction from which infrasonic, sonic, ultrasonic, or electromagnetic waves, or particle emission, not having a directional significance, are being received
- G01S3/78—Direction-finders for determining the direction from which infrasonic, sonic, ultrasonic, or electromagnetic waves, or particle emission, not having a directional significance, are being received using electromagnetic waves other than radio waves
- G01S3/782—Systems for determining direction or deviation from predetermined direction
- G01S3/789—Systems for determining direction or deviation from predetermined direction using rotating or oscillating beam systems, e.g. using mirrors, prisms
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
- G01S5/16—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using electromagnetic waves other than radio waves
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F3/00—Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
- G06F3/01—Input arrangements or combined input and output arrangements for interaction between user and computer
- G06F3/011—Arrangements for interaction with the human body, e.g. for user immersion in virtual reality
- G06F3/012—Head tracking input arrangements
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- Electromagnetism (AREA)
- Radar, Positioning & Navigation (AREA)
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Abstract
The invention discloses a free space eye tracking measurement method which comprises the following steps: establishing a binocular stereo vision eye tracking measurement device; extracting the coordinates of inner and outer canthus points of the eyes, calculating the moving coordinates generated by the binocular stereo vision eye tracking measurement device in each wearing, and compensating the generated relative movement; defining the normal direction of the center point of a circular plane formed by the pupil edges of the eyes as the sight indirect estimation direction, and measuring the space sight indirect estimation direction of one eye by a binocular stereo vision measurement method; calibrating the deviation angle between the space sight indirect estimation direction and the real sight direction to obtain the real sight direction of single eye. The method disclosed by the invention can obtain a three-dimensional free space sight direction; the sight activity range is not limited; a head-worn structure can meet the free motion of the head, and meanwhile, high-precision eye images can be obtained; the system error between the real sight direction and the defined sight indirect estimation direction can be calibrated.
Description
Technical field
The present invention relates to the eye tracking field of machine vision, image processing and feature detection and identification, relate in particular to a kind of free space eye tracking measuring method, be mainly used in man-machine interaction, is prerequisite and the basis of eye movements system as senior man-machine interaction.
Background technology
Eye movement operating system is one of form of senior man-machine interaction, for visible target selection and manipulation task, other passage of man-machine interaction carries out under all instructing in visual channel, and user first watches object of interest attentively, reboots selection or the control action of other passage.The utilization of therefore eye movement operating system can really realize convenient, true-time operation more rapidly, makes man-machine conversation become easy, nature.Eye movement operating system has broad application prospects in field of human-computer interaction, for example, can understand intelligent computer and the robot of people's intention, has the household electrical appliance of interactive function, virtual reality and game, weapon aiming and target localization etc. in national defense and military.Visual Trace Technology is the gordian technique of intelligent eye movement operating system, be to realize basis and the prerequisite of eye movement operating system as senior man-machine interaction application, further investigation Visual Trace Technology has important theory and application value to realizing the fine free space man-machine interactive system that is applied to of eye movement operating system.
Visual Trace Technology main research be how real-time, objective, record the current direction of visual lines of user or sight line drop point site exactly.Sight line is the direction of eye gaze, reflects the focus that a people pays close attention to.In the time of eye gaze jobbie, the picture of object becomes in amphiblestroid central fovea automatically, so real direction of visual lines is the line direction of central fovea and pupil center.But because central fovea is invisible, extract the eye movement of eye feature parameter characterization, indirectly obtain direction of visual lines.The Middle Ages of eye movement being observed and being tested from real use instrument and equipment, century-old technical development in experience, Visual Trace Technology has experienced the measuring methods such as direct observational method, after image method, mechanical recorder technique, electric current writing-method, inductive electromagnetic method, along with developing rapidly of machine vision and digital image processing techniques, utilize digital camera to record eye moving process and adopt the optical recording of image processing method analysis direction of visual lines to be used widely.Wherein, pupil center corneal flare method is current the most conventional method.
Visual Trace Technology based on pupil center corneal flare method comprises two-part content: (1) sight line characteristic parameter extraction and (2) direction of visual lines model are set up.Sight line characteristic parameter extraction is processed and from eye image, is extracted pupil and corneal reflection spot by image.Wherein, pupil tracking is the important step of sight line parameter detecting.Direction of visual lines model is set up and is mainly divided into two kinds of forms of two and three dimensions at present.Visual Trace Technology based on two-dimentional depends on the mapping plane of demarcation strongly, and can only obtain two-dimentional view information; Visual Trace Technology based on three-dimensional adopts distant reading type more, and it is the paradox that cannot accomplish that both all optimize that head free movement and high precision eyes image are followed the tracks of, and space calibration process very complicated, and sight line scope of activities is seriously restricted.
Summary of the invention
The invention provides a kind of free space eye tracking measuring method, the present invention adopts binocular stereo vision free space eye tracking measuring method, the three-dimensional direction of visual lines of free space can obtain head free movement in the situation that demarcation is easier time, described below:
A kind of free space eye tracking measuring method,
Utilize binocular stereo vision measurement method to carry out tracking measurement to the sight line of eyes; The method is extracted the interior tail of the eye point coordinate of eyes, calculates binocular stereo vision eye tracking measurement mechanism and dresses the moving coordinate of generation at every turn, and compensate relatively moving of occurring; Utilize disk central point normal direction that the pupil edge of eyes the forms indirect estimation direction as visual line measurement; Utilize the systematic error deviation angle between indirect estimation direction and the Real line-of-sight direction of visual line measurement to measure Real line-of-sight.
Described binocular stereo vision eye tracking measurement mechanism comprises: binocular stereo vision eye tracking is measured camera and found a view camera,
Described binocular stereo vision eye tracking measure camera with described in the camera of finding a view realize scene stack by a slice semi-transparent semi-reflecting lens is set, described semi-transparent semi-reflecting lens top is provided with binocular stereo vision eye tracking and measures camera, and described binocular stereo vision eye tracking measurement camera is measured single eye imaging of visual field to being full of binocular stereo vision eye tracking by the reflective surface of described semi-transparent semi-reflecting lens; The camera of finding a view described in described semi-transparent semi-reflecting lens below is provided with, described in find a view camera by reflective surface to observing scene imaging.
Described disk central point normal direction that the pupil edge of eyes the forms indirect direction of assessment as visual line measurement that utilizes, the steps include:
(1) demarcate described binocular stereo vision eye tracking and measure camera;
(2) utilize binocular stereo vision method to measure eye pupil edge and form disk central point normal direction, set up the normal straight-line equation of this circle central point; (3) normal of eye pupil planar central point that edge forms is defined as to the indirect estimation direction of space visual line measurement.
The step that systematic error deviation angle between described indirect estimation direction and the Real line-of-sight direction of utilizing visual line measurement is measured Real line-of-sight is:
Adopt human eye is carried out to eye tracking measurement, in tested people's presence, point out by people the blinkpunkt position that standard target is put on, the blinkpunkt line direction that described binocular stereo vision eye tracking measurement camera coordinates Xi Zhong pupil center and tested people point out is real direction of visual lines; The sight line of measuring camera gained with described binocular stereo vision eye tracking again estimates that the measurement result of direction compares indirectly, can determine that Real line-of-sight direction and sight line estimate the deviation angle of direction indirectly.
This method associates sight line and corresponding free space scene and blinkpunkt by semi-transparent semi-reflecting lens and the camera of finding a view, demarcate the sight line of new definition and indirectly estimate the deviation angle between direction and Real line-of-sight direction, space direction of visual lines gains freedom behind compensate angle, realize people's an eye line and the stack of observing visual field, there is following beneficial effect:
(1) can obtain three-dimensional free space direction of visual lines;
(2) sight line scope of activities is unrestricted;
(3) structure of wear-type can meet head free movement simultaneously, obtains high precision eyes image;
(4) define new sight line and indirectly estimate direction, space calibration process is simple;
(5) sight line that can demarcate Real line-of-sight direction and definition is estimated the systematic error between direction indirectly.
Brief description of the drawings
Fig. 1 is a kind of process flow diagram of free space eye tracking measuring method;
Fig. 2 is wear-type binocular stereo vision eye tracking experimental system schematic layout pattern;
Fig. 3 is that binocular stereo vision eye tracking is measured coordinate system schematic diagram.
Embodiment
For making the object, technical solutions and advantages of the present invention clearer, below embodiment of the present invention is described further in detail.
The present invention is directed to the problem that above-mentioned sight tracing research exists, a kind of free space eye tracking measuring method is provided, this method is combined wear-type structure with three-dimensional visual line measurement principle, solve the three-dimensional sight tracing head free movement of current distant reading type and high precision eyes image and follow the tracks of the problem that cannot take into account, and the serious restricted problem of the sight line scope of activities therefore causing.
Sight line is the direction of eye gaze, reflects the focus that a people pays close attention to.In the time of eye gaze jobbie, the picture of object becomes in amphiblestroid central fovea automatically, so real direction of visual lines is the line direction of central fovea and pupil center.But because central fovea is invisible, Real line-of-sight cannot directly measure, therefore this method definition " the disk central point normal direction that eye pupil edge forms is that sight line is estimated direction indirectly ", the sight line of new definition is estimated to have deviation angle between direction and Real line-of-sight direction indirectly, indirectly estimate the deviation angle between direction and Real line-of-sight direction by extracting and compensate sight line, can indirectly obtain Real line-of-sight direction, referring to Fig. 1, progressively set forth the present invention below:
101: build binocular stereo vision eye tracking measurement mechanism;
Referring to Fig. 2, this device comprises: head supporting structure 1, and the design of head supporting structure 1 adopts eyebrow top contact localization method, after crown support and head, tightens, and the part of front and back contact head is curved.This slice semi-transparent semi-reflecting lens 2 is arranged on the front portion of head supporting structure 1, on semi-transparent semi-reflecting lens 2, be provided with binocular stereo vision eye tracking measure camera 3, binocular stereo vision eye tracking measure camera 3 by reflective surface to eye imaging.Semi-transparent semi-reflecting lens 2 belows are provided with the camera 4 of finding a view, the camera 4 of finding a view by reflective surface to scene imaging.
The layout of this binocular stereo vision eye tracking measurement mechanism can realize and neither hinder the observation of human eye to scene, cover again the coverage of the camera of finding a view, reflect light into the camera of finding a view, binocular stereo vision eye tracking is measured camera 3 and can be collected eye image clearly simultaneously.
102: utilize the interior tail of the eye point coordinate of eyes, calculate binocular stereo vision eye tracking measurement mechanism and dress the moving coordinate of generation at every turn, and compensate relatively moving of occurring;
Compensate binocular stereo vision eye tracking measurement mechanism and head relatively moves by this step, improved measuring accuracy.
103: binocular stereo vision measurement method estimates that to the sight line of single eyes direction measures indirectly;
Referring to Fig. 3, binocular stereo vision eye tracking is measured camera 3 (comprising: left cmos imager and right cmos imager), gets coordinate system O
w-X
wy
wz
wfor world coordinate system.Demarcate binocular stereo vision eye tracking and measure camera 3, utilize the binocular stereo vision eye tracking of having demarcated to measure camera 3 and under visible ray, absorb high-resolution eye image, image is processed, retain true pupil region edge.Obtain eye pupil edge by binocular stereo vision measurement method and form disk central point normal direction, set up the normal straight-line equation of this circle central point; And to define the described direction of this space line equation be that sight line is estimated direction indirectly.
Matching pupil place plane expression formula is as follows:
AX
w+BY
w+CZ
w+D＝0 (1)
Known by space geometry knowledge, the normal vector of pupil place plane is
if the three-dimensional coordinate of the pupil center that binocular stereo vision measurement method obtains is (X
w0, Y
w0, Z
w0), the normal equation expression formula of the central point of pupil edge formation disk is as follows:
104: demarcate space sight line and indirectly estimate the deviation angle between direction and Real line-of-sight direction.
Wherein, Real line-of-sight direction is the line direction of pupil center and fovea centralis, but central fovea is invisible, determine Real line-of-sight direction by tested person's cooperation, the drop point of Real line-of-sight direction is that blinkpunkt is also in Real line-of-sight direction, therefore the line direction of Real line-of-sight direction Ye Shiguo pupil center and blinkpunkt.Informed the blinkpunkt position in the standard target of watching attentively at present by tested people, by finding a view, camera 4 obtains blinkpunkt coordinate, determine that by demarcating binocular stereo vision eye tracking measures camera 3 and camera 4 relative position relations of finding a view (ensureing that by head supporting structure 1 relative position relation fixes), the line direction of pupil center and blinkpunkt in binocular stereo vision eye tracking measurement camera 3, is real direction of visual lines.Measure with binocular stereo vision eye tracking sight line that camera 3 tests gained again and indirectly estimate that the measurement result of direction compares, determine that Real line-of-sight direction and sight line estimate the deviation angle of direction indirectly, deviation angle is compensated to the measured value of measuring the sight line of gained and indirectly estimate direction, can obtain real direction of visual lines.
Describe a kind of operating process of free space eye tracking measuring method in detail below in conjunction with specific embodiment, described below:
As shown in Figure 2, a slice semi-transparent semi-reflecting lens 2 is arranged on the front portion of head supporting structure 1, places binocular stereo vision eye tracking and measures camera 3, its lower camera 4 of finding a view of placing on it.Head supporting structure 1 adopts eyebrow top contact localization method to be fixed on testee's head, demarcates binocular stereo vision eye tracking and measures camera 3.Under visible ray, measure camera 3 by the binocular stereo vision eye tracking of having demarcated and absorb testee's eye image, utilize the interior tail of the eye coordinate of eyes in eye pattern, as the benchmark of in measuring process binocular stereo vision eye tracking measurement mechanism and head generation relative displacement.Subject watches blinkpunkts different in standard target successively attentively, and the eye image in corresponding moment of picked-up is processed and retained true pupil region edge image.Utilize binocular stereo vision measurement method to obtain eye pupil edge and form disk central point normal direction, set up the normal straight-line equation of this circle central point, regard it as sight line and indirectly estimate direction.Testee coordinates, inform the blinkpunkt position in the standard target of watching attentively at present, by finding a view, camera 4 obtains blinkpunkt coordinate, determine binocular stereo vision eye tracking measurement camera 3 and find a view camera 4 relative position relations by demarcating, in binocular stereo vision eye tracking measurement camera 3 coordinate systems, the line direction of blinkpunkt in pupil center and standard target, is real direction of visual lines.Measure with binocular stereo vision eye tracking sight line that camera 3 tests gained again and indirectly estimate that the measurement result of direction compares, determine that Real line-of-sight direction and sight line estimate the deviation angle of direction indirectly, deviation angle is compensated to the measured value of measuring the sight line of gained and indirectly estimate direction, can obtain real direction of visual lines, by human eye Real line-of-sight direction and observation superimposition.
It will be appreciated by those skilled in the art that accompanying drawing is the schematic diagram of a preferred embodiment, the invention described above embodiment sequence number, just to describing, does not represent the quality of embodiment.
The foregoing is only preferred embodiment of the present invention, in order to limit the present invention, within the spirit and principles in the present invention not all, any amendment of doing, be equal to replacement, improvement etc., within all should being included in protection scope of the present invention.
Claims (4)
1. a free space eye tracking measuring method, is characterized in that:
Utilize binocular stereo vision measurement method to carry out tracking measurement to the sight line of eyes; The method is extracted the interior tail of the eye point coordinate of eyes, calculates binocular stereo vision eye tracking measurement mechanism and dresses the moving coordinate of generation at every turn, and compensate relatively moving of occurring; Utilize disk central point normal direction that the pupil edge of eyes the forms indirect estimation direction as visual line measurement; Utilize the systematic error deviation angle between indirect estimation direction and the Real line-of-sight direction of visual line measurement to measure Real line-of-sight.
2. a kind of free space eye tracking measuring method according to claim 1, is characterized in that, described binocular stereo vision eye tracking measurement mechanism comprises: binocular stereo vision eye tracking is measured camera and found a view camera,
Described binocular stereo vision eye tracking measure camera with described in the camera of finding a view realize scene stack by a slice semi-transparent semi-reflecting lens is set, described semi-transparent semi-reflecting lens top is provided with binocular stereo vision eye tracking and measures camera, and described binocular stereo vision eye tracking measurement camera is measured single eye imaging of visual field to being full of binocular stereo vision eye tracking by the reflective surface of described semi-transparent semi-reflecting lens; The camera of finding a view described in described semi-transparent semi-reflecting lens below is provided with, described in find a view camera by reflective surface to observing scene imaging.
3. a kind of free space eye tracking measuring method according to claim 2, is characterized in that, described disk central point normal direction that the pupil edge of eyes the forms indirect estimation direction as visual line measurement of utilizing, the steps include:
(1) demarcate described binocular stereo vision eye tracking and measure camera;
(2) utilize binocular stereo vision method to measure eye pupil edge and form disk central point normal direction, set up the normal straight-line equation of this circle central point; (3) normal of eye pupil planar central point that edge forms is defined as to the indirect estimation direction of space visual line measurement.
4. a kind of free space eye tracking measuring method according to claim 3, is characterized in that, the step that the deviation angle between described indirect estimation direction and the Real line-of-sight direction of utilizing visual line measurement is measured Real line-of-sight is:
Adopt human eye is carried out to eye tracking measurement, in tested people's presence, point out by people the blinkpunkt position that standard target is put on, the blinkpunkt line direction that described binocular stereo vision eye tracking measurement camera coordinates Xi Zhong pupil center and tested people point out is real direction of visual lines; The sight line of measuring camera gained with described binocular stereo vision eye tracking again estimates that the measurement result of direction compares indirectly, can determine that Real line-of-sight direction and sight line estimate the deviation angle of direction indirectly.
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| CN104915013A (en) * | 2015-07-03 | 2015-09-16 | 孙建德 | Eye tracking and calibrating method based on usage history |
| CN106354264A (en) * | 2016-09-09 | 2017-01-25 | 电子科技大学 | Real-time man-machine interaction system based on eye tracking and a working method of the real-time man-machine interaction system |
| CN106651954A (en) * | 2016-12-27 | 2017-05-10 | 天津科技大学 | Laser simulation method and device for space sight line benchmark |
| CN106840112A (en) * | 2017-01-09 | 2017-06-13 | 天津大学 | A kind of space geometry measuring method of utilization free space eye gaze point measurement |
| CN107067438A (en) * | 2017-03-24 | 2017-08-18 | 清华大学 | Two-way direction of visual lines method of estimation and device based on linear regression |
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| CN113492409A (en) * | 2021-09-07 | 2021-10-12 | 国网瑞嘉(天津)智能机器人有限公司 | Line grabbing method and device for distribution network live working robot, electronic equipment and medium |
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Cited By (20)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN104469152A (en) * | 2014-12-02 | 2015-03-25 | 广东欧珀移动通信有限公司 | Automatic shooting method and system of wearable device |
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| CN104915013A (en) * | 2015-07-03 | 2015-09-16 | 孙建德 | Eye tracking and calibrating method based on usage history |
| CN107536598A (en) * | 2016-06-29 | 2018-01-05 | 沈阳新松机器人自动化股份有限公司 | Binocular vision pupil positioning method and relevant device |
| CN106354264A (en) * | 2016-09-09 | 2017-01-25 | 电子科技大学 | Real-time man-machine interaction system based on eye tracking and a working method of the real-time man-machine interaction system |
| CN106651954A (en) * | 2016-12-27 | 2017-05-10 | 天津科技大学 | Laser simulation method and device for space sight line benchmark |
| CN106840112A (en) * | 2017-01-09 | 2017-06-13 | 天津大学 | A kind of space geometry measuring method of utilization free space eye gaze point measurement |
| CN106840112B (en) * | 2017-01-09 | 2019-03-22 | 天津大学 | A kind of space geometry measuring method measured using free space eye gaze point |
| CN107067438A (en) * | 2017-03-24 | 2017-08-18 | 清华大学 | Two-way direction of visual lines method of estimation and device based on linear regression |
| CN107067438B (en) * | 2017-03-24 | 2019-12-24 | 清华大学 | Bidirectional sight line direction estimation method and device based on linear regression |
| CN107644443A (en) * | 2017-09-01 | 2018-01-30 | 北京七鑫易维信息技术有限公司 | Parameter setting method and device in Eye-controlling focus equipment |
| CN107644443B (en) * | 2017-09-01 | 2020-07-28 | 北京七鑫易维信息技术有限公司 | Parameter setting method and device in sight tracking equipment |
| CN107784650A (en) * | 2017-10-30 | 2018-03-09 | 湖北坚丰科技股份有限公司 | A kind of online visible detection method for rotating shaft bearing of motor shelves diameter |
| CN108829246A (en) * | 2018-05-31 | 2018-11-16 | 歌尔股份有限公司 | Eyeball tracking function detecting method and system |
| CN108829246B (en) * | 2018-05-31 | 2021-12-07 | 歌尔股份有限公司 | Eyeball tracking function detection method and system |
| CN111951332A (en) * | 2020-07-20 | 2020-11-17 | 燕山大学 | Glasses design method based on sight estimation and binocular depth estimation and glasses thereof |
| CN111951332B (en) * | 2020-07-20 | 2022-07-19 | 燕山大学 | Glasses design method based on sight estimation and binocular depth estimation and glasses thereof |
| CN113492409A (en) * | 2021-09-07 | 2021-10-12 | 国网瑞嘉(天津)智能机器人有限公司 | Line grabbing method and device for distribution network live working robot, electronic equipment and medium |
| CN113492409B (en) * | 2021-09-07 | 2021-11-23 | 国网瑞嘉(天津)智能机器人有限公司 | Line grabbing method and device for distribution network live working robot, electronic equipment and medium |
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