CN107014378A - A kind of eye tracking aims at control system and method - Google Patents
A kind of eye tracking aims at control system and method Download PDFInfo
- Publication number
- CN107014378A CN107014378A CN201710365090.8A CN201710365090A CN107014378A CN 107014378 A CN107014378 A CN 107014378A CN 201710365090 A CN201710365090 A CN 201710365090A CN 107014378 A CN107014378 A CN 107014378A
- Authority
- CN
- China
- Prior art keywords
- coordinate system
- aiming
- controlling equipment
- user
- eye
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 238000000034 method Methods 0.000 title claims abstract description 32
- 210000001508 eye Anatomy 0.000 claims abstract description 66
- 230000000007 visual effect Effects 0.000 claims abstract description 39
- 230000004424 eye movement Effects 0.000 claims description 25
- 238000013519 translation Methods 0.000 claims description 10
- 239000011159 matrix material Substances 0.000 claims description 9
- 238000004891 communication Methods 0.000 claims description 7
- 238000013507 mapping Methods 0.000 claims description 7
- 210000000162 simple eye Anatomy 0.000 claims description 7
- 230000008859 change Effects 0.000 claims description 5
- 238000012937 correction Methods 0.000 claims description 5
- 238000011156 evaluation Methods 0.000 claims description 5
- 210000003128 head Anatomy 0.000 claims description 5
- 230000004807 localization Effects 0.000 claims description 5
- 238000012549 training Methods 0.000 claims description 5
- 241001269238 Data Species 0.000 claims description 4
- 210000005252 bulbus oculi Anatomy 0.000 claims description 4
- 238000004364 calculation method Methods 0.000 claims description 3
- 230000033001 locomotion Effects 0.000 description 8
- 230000003287 optical effect Effects 0.000 description 7
- 208000032364 Undersensing Diseases 0.000 description 4
- 230000003993 interaction Effects 0.000 description 4
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 4
- 238000004458 analytical method Methods 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 3
- 238000007654 immersion Methods 0.000 description 3
- 230000001133 acceleration Effects 0.000 description 2
- DMBHHRLKUKUOEG-UHFFFAOYSA-N diphenylamine Chemical compound C=1C=CC=CC=1NC1=CC=CC=C1 DMBHHRLKUKUOEG-UHFFFAOYSA-N 0.000 description 2
- 210000001747 pupil Anatomy 0.000 description 2
- 230000003068 static effect Effects 0.000 description 2
- 230000001360 synchronised effect Effects 0.000 description 2
- 241000208340 Araliaceae Species 0.000 description 1
- 235000005035 Panax pseudoginseng ssp. pseudoginseng Nutrition 0.000 description 1
- 235000003140 Panax quinquefolius Nutrition 0.000 description 1
- 230000004075 alteration Effects 0.000 description 1
- 230000003542 behavioural effect Effects 0.000 description 1
- 230000008901 benefit Effects 0.000 description 1
- 210000004087 cornea Anatomy 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000005672 electromagnetic field Effects 0.000 description 1
- 235000008434 ginseng Nutrition 0.000 description 1
- 239000011521 glass Substances 0.000 description 1
- 230000004886 head movement Effects 0.000 description 1
- 238000003384 imaging method Methods 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 230000002045 lasting effect Effects 0.000 description 1
- 230000003137 locomotive effect Effects 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 239000000203 mixture Substances 0.000 description 1
- 230000005622 photoelectricity Effects 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
- 230000009467 reduction Effects 0.000 description 1
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
- G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
- G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
- G01C21/165—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation combined with non-inertial navigation instruments
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
- G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
- G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
- G01C21/18—Stabilised platforms, e.g. by gyroscope
-
- 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
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
- G01S19/45—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement
- G01S19/47—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement the supplementary measurement being an inertial measurement, e.g. tightly coupled inertial
-
- 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
- G06F3/013—Eye tracking input arrangements
Landscapes
- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- General Engineering & Computer Science (AREA)
- Theoretical Computer Science (AREA)
- Automation & Control Theory (AREA)
- Human Computer Interaction (AREA)
- Computer Networks & Wireless Communication (AREA)
- Position Input By Displaying (AREA)
Abstract
Control system and method, the target that user can be allowed to be watched attentively with eyes Manipulation of the machine equipment slewing locking tracking are aimed at the invention discloses a kind of eye tracking.Eye tracking, which aims at control system, to be included：View line tracking device, can track and calculate user's direction of visual lines and blinkpunkt position coordinates；View line tracking device and robot platform equipment relative position and attitude acquiring unit, can calculate view line tracking device coordinate system and aim at the relative position and attitude between controlling equipment coordinate system；Aim at controlling equipment, can basis direction of visual lines and blinkpunkt position coordinates and relative position and attitude etc. calculate user and watch direction and position coordinates of the point target in the case where aiming at controlling equipment coordinate system attentively so that controlling equipment, which aims at locking tracking user, watches point target attentively.The system can also watch point target attentively to user and carry out demarcation calibration, and the eye tracking for improving system aims at locking tracking precision.
Description
Technical field
Manipulation field is aimed at the present invention relates to eye tracking, more particularly to a kind of eye tracking aims at control system and side
Method.
Background technology
Vision is the major way that people obtain information, the features such as having direct, naturality and amphicheirality due to sight,
So that Visual Trace Technology is in man-machine interaction, man-machine collaboration, the analysis of market shopping notice, driving behavior analysis, advertising network
The multiple fields such as user psychology and behavioural analysis such as page have a wide range of applications.But being applied current existing Visual Trace Technology more
In position of the tracking sight on the two dimensional surface such as display screen or scene camera shooting image video, user is directly tracked
The system and method for three-dimensional blinkpunkt position coordinates is less in real space.Particularly user is being allowed directly to be manipulated with eyes
Machinery equipment to the target in real space aim at the field of locking tracking, temporarily also without related system and method.
The content of the invention
Based on the problems of prior art, it is an object of the invention to provide a kind of eye tracking aim at control system and
Method, the target that user can be allowed to be watched attentively with eyes Manipulation of the machine equipment slewing locking tracking.
The purpose of the present invention is achieved through the following technical solutions：
Embodiment of the present invention provides a kind of eye tracking and aims at control system, including：
View line tracking device, can track calculating user's direction of visual lines and blinkpunkt under the view line tracking device coordinate system
Position coordinates；
Relative position and attitude acquiring unit, respectively with view line tracking device and aiming controlling equipment communication connection, can be obtained
Relative position and attitude between the view line tracking device coordinate system and the aiming controlling equipment coordinate system；
Controlling equipment is aimed at, is communicated to connect respectively with the view line tracking device and relative position and attitude acquiring unit, energy
The direction of visual lines and blinkpunkt position coordinates and the relative position and attitude acquiring unit provided according to the view line tracking device
The relative position and attitude of offer calculates user and watches direction and position of the point target under the aiming controlling equipment coordinate system attentively
Put coordinate, and direction by calculating and position coordinates controlling equipment aim at locking tracking user and watch point target attentively.
Embodiment of the present invention also provides a kind of eye tracking and aims at control method, using eye tracking of the present invention
Control system is aimed at, is comprised the following steps：
Step (a), gathers the eye movement data of user, according to the user by the view line tracking device of the system
Eye movement data calculate user's direction of visual lines and blinkpunkt position coordinates；
Step (b), the view line tracking device of the system is obtained by the relative position and attitude acquiring unit of the system
The relative position and attitude of coordinate system and the aiming controlling equipment coordinate system；
Step (c), by the aiming controlling equipment of the system according to the direction of visual lines and blinkpunkt position coordinates and phase
Go out direction and position coordinates of user's blinkpunkt target under the aiming controlling equipment coordinate system to position Attitude Calculation, manipulate
Equipment aims at locking tracking user and watches point target attentively.
As seen from the above technical solution provided by the invention, eye tracking provided in an embodiment of the present invention aims at manipulation
System and method, its advantage is：
By setting the view line tracking device for being in communication with each other connection, relative position and attitude acquiring unit and aiming at controlling equipment
Cooperate, can track and calculate user's direction of visual lines and blinkpunkt position coordinates, obtain view line tracking device coordinate system
Aim at the relative position and attitude between controlling equipment coordinate system, both combine and then calculate user and watch point target attentively and are taking aim at
Direction and position coordinates under quasi- controlling equipment coordinate system, allow user with eyes Manipulation of the machine equipment slewing locking tracking
The target watched attentively.The present invention system and method people with it is robot cooperated, aircraft, vehicle, naval vessel, aerospace craft etc.
Auxiliary operation, the multiple fields such as full immersion man-machine interactions of VR/AR are widely used.
Brief description of the drawings
In order to illustrate the technical solution of the embodiments of the present invention more clearly, being used required in being described below to embodiment
Accompanying drawing be briefly described, it should be apparent that, drawings in the following description are only some embodiments of the present invention, for this
For the those of ordinary skill in field, on the premise of not paying creative work, other can also be obtained according to these accompanying drawings
Accompanying drawing.
Fig. 1 is that eye tracking provided in an embodiment of the present invention aims at control system structure chart；
Fig. 2 is that eye tracking provided in an embodiment of the present invention aims at control method flow chart；
Fig. 3 is that eye tracking provided in an embodiment of the present invention aims at control system application scenarios schematic diagram.
Embodiment
With reference to the particular content of the present invention, the technical scheme in the embodiment of the present invention is clearly and completely retouched
State, it is clear that described embodiment is only a part of embodiment of the invention, rather than whole embodiments.Based on the present invention
Embodiment, the every other embodiment that those of ordinary skill in the art are obtained under the premise of creative work is not made,
Belong to protection scope of the present invention.
As shown in figure 1, the embodiment of the present invention, which provides a kind of eye tracking, aims at control system, user's eyes can be allowed
The target that Manipulation of the machine equipment slewing locking tracking is watched attentively, including：
View line tracking device, can track calculating user's direction of visual lines and blinkpunkt under the view line tracking device coordinate system
Position coordinates；
Relative position and attitude acquiring unit, respectively with view line tracking device and aiming controlling equipment communication connection, can be obtained
Relative position and attitude between the view line tracking device coordinate system and the aiming controlling equipment coordinate system；
Controlling equipment is aimed at, is communicated to connect respectively with the view line tracking device and relative position and attitude acquiring unit, energy
The direction of visual lines and blinkpunkt position coordinates and the relative position and attitude acquiring unit provided according to the view line tracking device
The relative position and attitude of offer calculates user and watches direction and position of the point target under the aiming controlling equipment coordinate system attentively
Put coordinate, and direction by calculating and position coordinates controlling equipment aim at locking tracking user and watch point target attentively, use
Person watches point target attentively and refers to target at user's blinkpunkt.
Said system also includes：Pointing correction unit, is communicated to connect with the aiming controlling equipment, to user's blinkpunkt
Target carries out demarcation calibration.The eye tracking that system can be improved by setting the pointing correction unit aims at locking tracking precision.
In said system, view line tracking device includes：
The position coordinates evaluation unit of eye movement data harvester and direction of visual lines and blinkpunkt；Wherein,
The eye movement data harvester, can gather that user is simple eye or eye movement datas of eyes；
Described direction of visual lines and blinkpunkt position coordinates evaluation unit, with the eye movement data harvester communication link
Connect, the dynamic ginseng of the eye related to direction of visual lines and blinkpunkt is extracted in the eye movement data that can be gathered from the eye movement data harvester
Number information, and the dynamic mapping pass between parameter information and direction of visual lines and blinkpunkt of eye is set up by eyeball phantom and demarcation training
System, moves parameter in conjunction with eye and mapping relations calculates simple eye user or eyes direction of visual lines and watch point target attentively and regarded at this
Position coordinates under line tracking equipment coordinate system.
It is described if the position of the view line tracking device and the aiming controlling equipment can be relatively moved in said system
Relative position and attitude acquiring unit is used：At least one in calibrating and positioning unit, inertial navigation positioning unit, satellite positioning unit
Kind；
If the position of the view line tracking device and the aiming controlling equipment can not be relatively moved, the relative position appearance
State acquiring unit is used：Measure determining unit or input receiving unit.
Specifically, when the view line tracking device that system includes has relative movement with aiming at controlling equipment, described phase
Include but is not limited to the phases such as calibrating and positioning unit, inertial navigation positioning unit, satellite positioning unit to position and attitude acquiring unit
To position and attitude acquiring unit, and the data of multiple measuring and calculating units can be merged, realize higher survey in the range of grade outside indoors
Calculate precision and robustness.When view line tracking device is fixed in identical platform without relative motion with aiming at controlling equipment,
Described view line tracking device can directly be surveyed when designing and producing and installing with the relative position and attitude for aiming at controlling equipment
Amount determines to obtain.
In said system, calibrating and positioning unit includes：
Mark point device and signal transmitting sensing device, are separately mounted to the view line tracking device and aiming manipulation
In equipment, adjustment notch point device in one of equipment, another equipment installs signal transmitting sensing device.
In said system, mark point device is：According to the multiple calibration points of certain structural arrangement installation on one device
Device, and position coordinates of the known each calibration point device under the device coordinate system installed；
The signal launches sensing device, can launch or receive signal, determines that each calibration point device is launched in the signal and feels
Know the locality or coordinate under device coordinate system, the sender unit coordinate system is under the equipment platform coordinate system installed
Position and attitude and rotation translation matrix known to.It is preferred that, above-mentioned calibrating and positioning unit uses camera calibration, laser scanning mark
At least one of fixed, light source positioning, auditory localization, electromagnetic signal source positioning.
Specifically, described calibrating and positioning unit includes the mark point device being arranged in a certain equipment and installed in another
Signal transmitting sensing device in equipment.Described mark point device is to be arranged on multiple in equipment according to certain structural arrangement
Mark point device, it is known that position coordinates of each point in the case where installing device coordinate system.The described signal being arranged in another equipment
Certain signal can be launched or be received to transmitting sensing device, determine that multiple mark point devices launch sensing device coordinate system in signal
Under locality or coordinate.Position and attitude and rotation of the sender unit coordinate system in the case where installing equipment platform coordinate system
Known to translation matrix.Described calibrating and positioning unit can be perceived by the transmitting of signal, determine multiple marks of mark point device
Pinpoint and launch the locality or coordinate under sensing device coordinate system in signal, device coordinate is installed at it with reference to multiple calibration points
Location coordinate information under system can calculate the rotation translation matrix between two device coordinate systems.
Described calibrating and positioning unit determines that multiple mark point devices launch the position under sensing device coordinate system in signal
Direction or to sit calibration method can be fixed based on camera calibration, laser scanning, light source positioning, auditory localization, electromagnetic signal source
At least one of the methods such as position method is realized, but is not limited to upper type.
In said system, inertial navigation positioning unit includes：Pacify respectively on view line tracking device and aiming controlling equipment
The inertial navigation location equipment of dress, view line tracking device coordinate system and aiming are calculated by each inertial navigation location equipment respectively
Controlling equipment coordinate system accurately calculates view line tracking device coordinate system and aiming manipulation is set relative to the change of earth coordinates
The relative position and attitude of standby coordinate system；Specifically, inertial navigation positioning unit includes the portions such as accelerometer, gyroscope, magnetometer
Point, it is respectively mounted inertial navigation location equipment on view line tracking device and aiming controlling equipment.Described inertial navigation unit can
View line tracking device coordinate system and aiming controlling equipment are calculated to merge the information such as 3-axis acceleration, angular speed and magnetic direction
Coordinate system and then can accurately calculate view line tracking device coordinate system in a short time relative to the change of earth coordinates
With the relative position and attitude for aiming at controlling equipment coordinate system.
The satellite positioning unit includes：The satellite fix being respectively mounted on view line tracking device and aiming controlling equipment
Equipment, carries out satellite fix by mobile satellite location equipment and calculates view line tracking device coordinate system and aiming controlling equipment coordinate system
Position and attitude under satellite system coordinate system, calculates view line tracking device coordinate system relative with controlling equipment coordinate system is aimed at
Position and attitude.Realized specifically, satellite positioning unit is based on the global navigation satellite system such as GPS, the Big Dipper, sight with
Mobile satellite location equipment is respectively mounted on track equipment and aiming controlling equipment.The unit, which can be positioned, calculates view line tracking device coordinate
The position and attitude of system and aiming controlling equipment coordinate system under satellite system coordinate system, and then view line tracking device can be calculated
Coordinate system and aiming controlling equipment coordinate system relative position and attitude.
In said system, aiming at controlling equipment includes：Gallery and aiming locking tracking device；Wherein,
The gallery, is communicated to connect with the view line tracking device, obtains the direction of visual lines and blinkpunkt of user
Position coordinates, calculates user with reference to relative position and attitude information and watches point target attentively under the aiming controlling equipment coordinate system
Direction and position coordinates；Described gallery also have static, ground moving, underground movement, airflight, water surface movable,
At least one of function such as mobile under water；
The aiming locking tracking device includes：Head and sighting device；Wherein, the cradle head device is arranged on the machine
On device platform, the sighting device is arranged on the cradle head device；The aiming locking tracking device leads to the gallery
Letter connection, can watch direction and position of the point target under the aiming controlling equipment coordinate system attentively according to the user calculated and sit
Mark, controls sighting device all around to be moved on the gallery, rotates up and down by the cradle head device, aims at
Locking tracking user watches point target attentively.During described sighting device can be the devices such as camera, laser pen, machinery equipment
Any one or more.
As shown in Fig. 2 the embodiment of the present invention, which also provides a kind of eye tracking, aims at control method, using above-mentioned sight with
Track aims at control system, comprises the following steps：
Step (a), gathers the eye movement data of user, according to the user by the view line tracking device of the system
Eye movement data calculate user's direction of visual lines and blinkpunkt position coordinates；
Step (b), the view line tracking device of the system is obtained by the relative position and attitude acquiring unit of the system
The relative position and attitude of coordinate system and the aiming controlling equipment coordinate system；
Step (c), by the aiming controlling equipment of the system according to the direction of visual lines and blinkpunkt position coordinates and phase
Go out direction and position coordinates of user's blinkpunkt target under the aiming controlling equipment coordinate system to position Attitude Calculation, manipulate
Equipment aims at locking tracking user and watches point target attentively.
Further, the above method also includes step (d), and user is watched attentively by the pointing correction unit of the system
Point target carries out demarcation calibration, improves the aiming locking tracking precision to watching point target attentively.
The embodiment of the present invention is specifically described in further detail below.
The present embodiment provides a kind of eye tracking and aims at control system, can track and calculate user's direction of visual lines and note
Viewpoint position coordinate, the relative position appearance between the view line tracking device coordinate system calculated and aiming controlling equipment coordinate system
State, both, which combine and then calculate user, watches direction and position coordinates of the point target in the case where aiming at controlling equipment coordinate system attentively,
The target for allowing user to be watched attentively with eyes Manipulation of the machine equipment slewing locking tracking.The present invention is assisted in people and robot
Make, the auxiliary operation of aircraft, vehicle, naval vessel, aerospace craft etc., the multiple fields such as full immersion man-machine interactions of VR/AR have extensively
General application.
As shown in figure 1, described eye tracking aims at control system, including：
View line tracking device, can track calculating user's direction of visual lines and blinkpunkt position under the device coordinate system and sit
Mark；
Relative position and attitude acquiring unit, view line tracking device coordinate system can be calculated and aim at controlling equipment coordinate system it
Between relative position and attitude；
Controlling equipment is aimed at, can be counted according to described direction of visual lines and blinkpunkt position coordinates and relative position and attitude etc.
Calculate user and watch direction and position coordinates of the point target in the case where aiming at controlling equipment coordinate system attentively, so that controlling equipment aims at lock
Surely tracking user watches point target attentively.
In addition, the eye tracking, which aims at control system, can also include pointing correction unit, watch known attentively by user
Target carries out demarcation calibration, and the eye tracking for improving system aims at locking tracking precision.
Described view line tracking device includes eye movement data harvester and the position coordinates of direction of visual lines and blinkpunkt is estimated
Calculate unit.
Described eye movement data harvester, can gather that user is simple eye or eye movement datas of eyes, including but not
Be limited to the video datas such as visible ray, the infrared light of ocular, eye motion recognition devices delta data caused by eye movement and other to
Actively transmitting receives electromagnetic field or the secondhand eye movement data of infrared light etc. to ocular；
Described direction of visual lines and blinkpunkt position coordinates evaluation unit, can be extracted and direction of visual lines from eye movement data
And the related eye of blinkpunkt moves parameter information, eye is set up by the method for eyeball phantom and demarcation training and moves parameter information and sight
Mapping relations between direction and blinkpunkt, move parameter and mapping relations in conjunction with eye and estimate that user is simple eye or eyes sight side
To with watch position coordinates of the point target under view line tracking device coordinate system attentively.
Described eye move parameter information can be extracted based on eye video data user's eyes or simple eye pupil,
The eyeball parameter such as hot spot, canthus, the two dimension of the cornea centre of sphere or three-dimensional coordinate and pupil elliptic plane normal vector or it is based on
Magnitude of voltage and waveform that eye motion recognition devices delta data is extracted etc..
The method of described foundation mapping, can be based solely on eye line of sight model or the method based on demarcation training,
It can also be the method that eye line of sight model and demarcation training are combined.
In addition, described view line tracking device, can be the Wearable with user's body or head movement, including
But the equipment such as glasses, the helmet or the Table top type equipment do not moved with user are not limited to, it can be mounted in
On his physical apparatus, install or fixed equipment includes but is not limited to desktop, display, vehicle, aircraft, robot platform etc. and set
It is standby.
Described relative position and attitude acquiring unit, when the view line tracking device that system includes has with aiming at controlling equipment
During relative movement, described relative position and attitude acquiring unit includes but is not limited to calibrating and positioning unit, inertial navigation positioning list
The relative position and attitude acquiring unit such as member, satellite positioning unit, and the data of multiple measuring and calculating units can be merged, it is outer etc. indoors
In the range of realize higher estimation precision and robustness.When view line tracking device and aiming controlling equipment are fixed on same put down
When on platform without relative motion, described view line tracking device and the relative position and attitude for aiming at controlling equipment can be in design and
Direct measurement is determined when production is installed.
Described calibrating and positioning unit includes the mark point device being arranged in a certain equipment and in another equipment
Signal transmitting sensing device.Described mark point device is the multiple mark points being arranged on according to certain structural arrangement in equipment
Device, it is known that position coordinates of each point in the case where installing device coordinate system.The described signal being arranged in another equipment transmitting sense
Know that certain signal can be launched or be received to device, determine that multiple mark point devices launch the position under sensing device coordinate system in signal
Put direction or coordinate.Position and attitude and rotation translation square of the sender unit coordinate system in the case where installing equipment platform coordinate system
Battle array is known.Described calibrating and positioning unit can be perceived by the transmitting of signal, determine that multiple calibration points of mark point device exist
Locality or coordinate under signal transmitting sensing device coordinate system, are installed under device coordinate system with reference to multiple calibration points at it
Location coordinate information can calculate the rotation translation matrix between two device coordinate systems.
Described calibrating and positioning unit determines that multiple mark point devices launch the position under sensing device coordinate system in signal
Direction or to sit calibration method can be fixed based on camera calibration, laser scanning, light source positioning, auditory localization, electromagnetic signal source
At least one of the methods such as position method is realized, but is not limited to above method.
The calibration point in mark point device in the described method based on camera calibration can be LED, gray scale face
Aberration not big round dot or gridiron pattern intersection point, signal transmitting sensing device can be single or multiple cameras.LED and shooting
The optical wavelength of sensing or the transmitting of head can be visible ray, infrared light, ultraviolet light wave band etc., but must mutually correspond to.Pass through figure
As the method for processing can obtain position of the calibration point in camera shooting image, it can be obtained with reference to the imaging model of camera
Its locality or coordinate under camera coordinate system of calibration point is taken, is installed with reference to multiple calibration points at it under device coordinate system
Location coordinate information can calculate the rotation translation matrix between two device coordinate systems.
Mark point device in the described method based on laser scanning is photoelectric receiving arrangement, signal sending and receiving apparatus
It is single or multiple generating lasers.The optical wavelength of photoelectric receiving arrangement and generating laser can be visible ray, infrared light, purple
Outer optical band etc., but must mutually correspond to.Described generating laser periodically launches the covering total space according to certain rule
Optical synchronous signal is simultaneously at the uniform velocity alternately rotated emission lines laser beam along the X-axis and Y-axis of generating laser coordinate system, and scanning covering is whole
Space.When the photoelectric receiving arrangement of the optical synchronous signal and laser beam flying for launching the covering total space to calibration point, photoelectricity connects
Receiving apparatus senses stronger laser signal.According to the time of the laser beam flying received to calibration point in whole synchronizing cycle
Middle position, it may be determined that locality of the photoelectric receiving arrangement in generating laser coordinate system, in multiple generating laser systems
In system, the position coordinates of photoelectric receiving arrangement is may further determine that, equipment is installed at it with reference to multiple photoelectric receiving arrangements and sat
Location coordinate information under mark system can calculate the rotation translation matrix between two device coordinate systems.
The mark in mark point device in the described method positioned based on light source positioning, auditory localization, electromagnetic signal source
Fixed point is light source, sound source or electromagnetic signal emitting source etc., and signal transmitting sensing device is to be arranged on to set according to certain structural arrangement
Standby upper multiple optical signals, acoustical signal or electromagnetic signal receiver, it is known that position of each receiver in the case where installing device coordinate system
Coordinate.The information such as the intensity for the signal that signal receiving device is received according to multiple signal receivers and direction, with reference to multiple letters
Number receiver installs the location coordinate information under device coordinate system at it, it may be determined that signal emitting-source is sat in signal receiving device
Locality and coordinate in mark system, the location coordinate information under device coordinate system is installed in conjunction with multiple signal emitting-sources at it
The rotation translation matrix between two device coordinate systems can be calculated.
Described inertial navigation positioning unit includes the parts such as accelerometer, gyroscope, magnetometer, in view line tracking device
With aiming at inertial navigation location equipment is respectively mounted on controlling equipment.Described inertial navigation unit can merge 3-axis acceleration,
The information such as angular speed and magnetic direction calculates view line tracking device coordinate system and aims at controlling equipment coordinate system relative to the earth
The change of coordinate system, and then can accurately calculate view line tracking device coordinate system in a short time and aim at controlling equipment seat
Mark the relative position and attitude of system.
Described satellite positioning unit is based on the global navigation satellite systems such as GPS, the Big Dipper and realized, in eye tracking
Mobile satellite location equipment is respectively mounted on equipment and aiming controlling equipment.The unit, which can be positioned, calculates view line tracking device coordinate system
With aim at position and attitude of the controlling equipment coordinate system under satellite system coordinate system, and then view line tracking device seat can be calculated
Mark system and aiming controlling equipment coordinate system relative position and attitude.
Described view line tracking device can also merge demarcation fixed with aiming at controlling equipment relative position and attitude acquiring unit
The information of the parts such as bit location, inertial navigation positioning unit, satellite positioning unit, realizes higher survey in the range of grade outside indoors
Calculate precision and robustness.Calibrating and positioning unit, accurately can calculate view line tracking device coordinate system and robot platform
The relative position and attitude and rotation translation matrix of device coordinate system, but it is closer to the distance, will be in horizon range based on optical system
Inside use.The orientation range of global position system is big, but estimation precision is relatively low, waits top layer to have what is blocked particularly in building
Place is difficult with.Positioning precision is higher in the inertial navigation positioning unit short time, but error can be with accumulated time, and precision is lasting
Reduction.The data message of the parts such as calibrating and positioning unit, inertial navigation positioning unit, satellite positioning unit is merged, not only can be with
More accurate estimation precision is also kept outside the horizon range under outer various environment, moreover it is possible to improve the measuring and calculating in horizon range indoors
Precision.
Described aiming controlling equipment, including gallery and aiming locking tracking equipment.
Described gallery, can communicate with view line tracking device, obtain direction of visual lines and the blinkpunkt position of user
Coordinate is put, calculating user with reference to relative position and attitude information watches direction of the point target in the case where aiming at controlling equipment coordinate system attentively
And position coordinates.Described gallery also has static, ground moving, underground movement, airflight, water surface movable, under water
At least one of function such as mobile.
Described aiming locking tracking equipment, including head and sighting device.Described cradle head device is flat installed in machine
On platform, described sighting device is installed on cradle head device.The aiming locking tracking equipment can be according to the user calculated
Watch direction and position coordinates of the point target in the case where aiming at controlling equipment coordinate system attentively, it is flat in machine by cradle head control sighting device
All around move, rotate up and down on platform, aim at locking tracking user and watch point target attentively.Described sighting device can be with
It is any one or more in the devices such as camera, laser pen, machinery equipment.
In addition, the described aiming controlling equipment for possessing locomotive function can also be according to calculate and view line tracking device
Relative position and attitude follow that view line tracking device and user move and adjustment is towards preferably to position and aim at.
As shown in Fig. 2 carrying out eye tracking using said system aims at control method, comprise the following steps：
Step (a), gathers the eye movement data of user, user's direction of visual lines and blinkpunkt is calculated according to eye movement data
Position coordinates；
Step (b), obtains view line tracking device coordinate system with aiming at the relative position and attitude of controlling equipment coordinate system；
Step (c), user is calculated according to described direction of visual lines and blinkpunkt position coordinates and relative position and attitude
Watch direction and position coordinates of the point target in the case where aiming at controlling equipment coordinate system attentively, controlling equipment aims at locking tracking user note
Viewpoint target.
Further, the above method also includes step (d), and watching known target attentively by user carries out demarcation calibration, carries
The high aiming locking tracking precision to watching point target attentively.
Fig. 3 show the practical application composition that eye tracking provided in an embodiment of the present invention aims at control system, and it is used
Be calibrating and positioning unit as relative position and attitude acquiring unit 2, calibrating and positioning unit is by multiple mark point devices 21 and many
What individual signal sending and receiving apparatus 22 was constituted, multiple mark point devices 21 are located at view line tracking device 1, and multiple signal transmittings are received
Device 22 is located on aiming controlling equipment 3, can be tracked and be calculated user's direction of visual lines and blinkpunkt position coordinates, calculate
View line tracking device coordinate system and aim at controlling equipment coordinate system between relative position and attitude, both combine so that calculate
User watches direction and position coordinates of the point target in the case where aiming at controlling equipment coordinate system attentively, allows user to use eyes Manipulation of the machine
The target 5 that equipment slewing locking tracking is watched attentively.The system can also watch known target attentively by user and be demarcated
Calibration, the eye tracking for improving system aims at locking tracking precision.The system and method for the present invention people with it is robot cooperated, it is winged
The auxiliary operation of machine, vehicle, naval vessel, aerospace craft etc., the multiple fields such as full immersion man-machine interactions of VR/AR, which have, extensively should
With.
The foregoing is only a preferred embodiment of the present invention, but protection scope of the present invention be not limited thereto,
Any one skilled in the art is in the technical scope of present disclosure, the change or replacement that can be readily occurred in,
It should all be included within the scope of the present invention.Therefore, protection scope of the present invention should be with the protection model of claims
Enclose and be defined.
Claims (10)
1. a kind of eye tracking aims at control system, it is characterised in that including：
View line tracking device, can track calculating user's direction of visual lines and blinkpunkt position under the view line tracking device coordinate system
Coordinate；
Relative position and attitude acquiring unit, respectively with view line tracking device and aiming controlling equipment communication connection, can obtain described
Relative position and attitude between view line tracking device coordinate system and the aiming controlling equipment coordinate system；
Controlling equipment is aimed at, is communicated to connect respectively with the view line tracking device and relative position and attitude acquiring unit, can basis
The direction of visual lines and blinkpunkt position coordinates and the relative position and attitude acquiring unit that the view line tracking device is provided are provided
Relative position and attitude calculate user and watch direction of the point target under the aiming controlling equipment coordinate system and position attentively and sit
Mark, and direction by calculating and position coordinates controlling equipment aim at locking tracking user and watch point target attentively.
2. a kind of eye tracking according to claim 1 aims at control system, it is characterised in that also include：Pointing correction
Unit, with the aiming controlling equipment communication connection, watches point target attentively to user and carries out demarcation calibration.
3. a kind of eye tracking according to claim 1 or 2 aims at control system, it is characterised in that the eye tracking
Equipment includes：
The position coordinates evaluation unit of eye movement data harvester and direction of visual lines and blinkpunkt；Wherein,
The eye movement data harvester, can gather that user is simple eye or eye movement datas of eyes；
Described direction of visual lines and blinkpunkt position coordinates evaluation unit, is communicated to connect, energy with the eye movement data harvester
The eye related to direction of visual lines and blinkpunkt is provided in the eye movement data provided from the eye movement data harvester and moves parameter letter
Breath, and the dynamic mapping relations between parameter information and direction of visual lines and blinkpunkt of eye are set up by eyeball phantom and demarcation training,
With reference to eye move parameter and mapping relations calculate simple eye user or eyes direction of visual lines and watch attentively point target the sight with
Position coordinates under track device coordinate system.
4. a kind of eye tracking according to claim 1 or 2 aims at control system, it is characterised in that in the system, if
The position of the view line tracking device and the aiming controlling equipment can be relatively moved, and the relative position and attitude acquiring unit is adopted
With：At least one of calibrating and positioning unit, inertial navigation positioning unit, satellite positioning unit；
If the position of the view line tracking device and the aiming controlling equipment can not be relatively moved, the relative position and attitude is obtained
Unit is taken to use：Measure determining unit or input receiving unit.
5. a kind of eye tracking according to claim 4 aims at control system, it is characterised in that the calibrating and positioning unit
Including：
Mark point device and signal transmitting sensing device, are separately mounted to the view line tracking device and the aiming controlling equipment
On, adjustment notch point device in one of equipment, another equipment installs signal transmitting sensing device.
6. a kind of eye tracking according to claim 5 aims at control system, it is characterised in that the mark point device
For：Multiple calibration point devices on one device are installed according to certain structural arrangement, and known each calibration point device is being pacified
Position coordinates under the device coordinate system of dress；
The signal launches sensing device, can launch or receive signal, determines that each calibration point device perceives dress in signal transmitting
The locality or coordinate under coordinate system are put, position of the sender unit coordinate system under the equipment platform coordinate system installed
Put known to posture and rotation translation matrix.
7. a kind of eye tracking according to claim 5 aims at control system, it is characterised in that the calibrating and positioning unit
Using at least one of camera calibration, laser scanning demarcation, light source positioning, auditory localization, electromagnetic signal source positioning.
8. a kind of eye tracking according to claim 4 aims at control system, it is characterised in that the inertial navigation positioning
Unit includes：The inertial navigation location equipment being respectively mounted on view line tracking device and aiming controlling equipment, passes through each inertia
Navigation equipment calculates view line tracking device coordinate system and aims at controlling equipment coordinate system relative to earth coordinates respectively
Change, accurately calculate view line tracking device coordinate system and aim at controlling equipment coordinate system relative position and attitude；
The satellite positioning unit includes：The satellite fix being respectively mounted on view line tracking device and aiming controlling equipment is set
It is standby, view line tracking device coordinate system is calculated by mobile satellite location equipment progress satellite fix and aiming controlling equipment coordinate system exists
Position and attitude under satellite system coordinate system, calculates view line tracking device coordinate system and aims at controlling equipment coordinate system with respect to position
Put posture.
9. a kind of eye tracking according to claim 1 or 2 aims at control system, it is characterised in that the aiming manipulation
Equipment includes：Gallery and aiming locking tracking device；Wherein,
The gallery, is communicated to connect with the view line tracking device, obtains direction of visual lines and the blinkpunkt position of user
Coordinate, calculates user with reference to relative position and attitude information and watches direction of the point target under the aiming controlling equipment coordinate system attentively
And position coordinates；
The aiming locking tracking device includes：Head and sighting device；Wherein, the cradle head device is flat installed in the machine
On platform, the sighting device is arranged on the cradle head device；The aiming locking tracking device and the gallery communication link
Connect, direction and position coordinates of the point target under the aiming controlling equipment coordinate system can be watched attentively according to the user calculated, led to
Cross the cradle head device control sighting device all around to move on the gallery, rotate up and down, aim at locking
Tracking user watches point target attentively.
10. a kind of eye tracking aims at control method, it is characterised in that using the sight described in any one of claim 1 to 9 with
Track aims at control system, comprises the following steps：
Step (a), gathers the eye movement data of user, according to the eye of the user by the view line tracking device of the system
Dynamic data calculate user's direction of visual lines and blinkpunkt position coordinates；
Step (b), the view line tracking device coordinate of the system is obtained by the relative position and attitude acquiring unit of the system
System and the relative position and attitude of the aiming controlling equipment coordinate system；
Step (c), by the aiming controlling equipment of the system according to the direction of visual lines and blinkpunkt position coordinates and relative position
Put Attitude Calculation and go out direction and position coordinates of user's blinkpunkt target under the aiming controlling equipment coordinate system, controlling equipment
Aim at locking tracking user and watch point target attentively.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710365090.8A CN107014378A (en) | 2017-05-22 | 2017-05-22 | A kind of eye tracking aims at control system and method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710365090.8A CN107014378A (en) | 2017-05-22 | 2017-05-22 | A kind of eye tracking aims at control system and method |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107014378A true CN107014378A (en) | 2017-08-04 |
Family
ID=59449346
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710365090.8A Pending CN107014378A (en) | 2017-05-22 | 2017-05-22 | A kind of eye tracking aims at control system and method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107014378A (en) |
Cited By (24)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108334191A (en) * | 2017-12-29 | 2018-07-27 | 北京七鑫易维信息技术有限公司 | Based on the method and apparatus of the determination blinkpunkt of eye movement analysis equipment |
| CN108732746A (en) * | 2018-05-29 | 2018-11-02 | 北京理工大学 | A kind of wear-type visual sight control system |
| CN108874147A (en) * | 2018-07-12 | 2018-11-23 | 深圳沃利创意工程有限公司 | A kind of VR-BOX experience interactive device |
| CN108981690A (en) * | 2018-06-07 | 2018-12-11 | 北京轻威科技有限责任公司 | A kind of light is used to fusion and positioning method, equipment and system |
| CN109445599A (en) * | 2018-11-13 | 2019-03-08 | 宁波视睿迪光电有限公司 | Interaction pen detection method and 3D interactive system |
| CN109828663A (en) * | 2019-01-14 | 2019-05-31 | 北京七鑫易维信息技术有限公司 | Determination method and device, the operating method of run-home object of aiming area |
| CN109857102A (en) * | 2019-01-21 | 2019-06-07 | 大连理工大学 | A kind of wheeled robot formation and tracking and controlling method based on relative position |
| CN109949655A (en) * | 2017-12-21 | 2019-06-28 | 泰勒斯公司 | Display for making aircraft driving information meets the dual coordination approach and system of the wear-type display system of external real world |
| CN110033652A (en) * | 2019-03-11 | 2019-07-19 | 中国民航大学 | A kind of radar dynamic object scaling method and system based on eye movement tracking |
| CN110134222A (en) * | 2018-02-02 | 2019-08-16 | 上海集鹰科技有限公司 | A kind of VR shows positioning sighting system and its positioning method of sight |
| CN110375582A (en) * | 2019-08-13 | 2019-10-25 | 北京缔科新技术研究院(有限合伙) | A kind of laser of view-based access control model information takes aim at mirror and focusing and zooming method |
| CN110554777A (en) * | 2019-09-24 | 2019-12-10 | 大连理工大学 | Eyeball gaze angle measuring method based on electromagnetic wave tracking |
| CN111190488A (en) * | 2019-12-30 | 2020-05-22 | 华为技术有限公司 | Device control method, communication apparatus, and storage medium |
| WO2020220284A1 (en) * | 2019-04-30 | 2020-11-05 | 深圳市大疆创新科技有限公司 | Aiming control method, mobile robot and computer-readable storage medium |
| CN112332917A (en) * | 2020-10-23 | 2021-02-05 | 军事科学院系统工程研究院网络信息研究所 | Laser communication autonomous tracking and aiming method controlled by inertial navigation |
| CN112489804A (en) * | 2019-09-12 | 2021-03-12 | 北京七鑫易维信息技术有限公司 | Aiming prediction method and device |
| CN112509007A (en) * | 2020-12-14 | 2021-03-16 | 科大讯飞股份有限公司 | Real fixation point positioning method and head-wearing sight tracking system |
| CN112633128A (en) * | 2020-12-18 | 2021-04-09 | 上海影创信息科技有限公司 | Method and system for pushing information of interested object in afterglow area |
| CN113424012A (en) * | 2019-02-11 | 2021-09-21 | D·富尼 | On-board device with network-connected sighting telescope to allow multiple other devices to track target simultaneously |
| CN113473015A (en) * | 2021-06-08 | 2021-10-01 | 荣耀终端有限公司 | Holder control method and electronic equipment |
| CN113536909A (en) * | 2021-06-08 | 2021-10-22 | 吉林大学 | Pre-aiming distance calculation method, system and equipment based on eye movement data |
| CN113932831A (en) * | 2021-09-24 | 2022-01-14 | 成都飞机工业（集团）有限责任公司 | Aircraft magnetic heading calibration method for laser aiming without reference object |
| CN114035186A (en) * | 2021-10-18 | 2022-02-11 | 北京航天华腾科技有限公司 | Target position tracking and indicating system and method |
| CN114500839A (en) * | 2022-01-25 | 2022-05-13 | 青岛根尖智能科技有限公司 | Vision holder control method and system based on attention tracking mechanism |
Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20080218436A1 (en) * | 2007-03-08 | 2008-09-11 | Lockheed Martin Corporation | Zero-lag image response to pilot head mounted display control |
| CN106168853A (en) * | 2016-06-23 | 2016-11-30 | 中国科学技术大学 | A kind of free space wear-type gaze tracking system |
-
2017
- 2017-05-22 CN CN201710365090.8A patent/CN107014378A/en active Pending
Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20080218436A1 (en) * | 2007-03-08 | 2008-09-11 | Lockheed Martin Corporation | Zero-lag image response to pilot head mounted display control |
| CN106168853A (en) * | 2016-06-23 | 2016-11-30 | 中国科学技术大学 | A kind of free space wear-type gaze tracking system |
Non-Patent Citations (2)
| Title |
|---|
| 孟举等: "基于视频图像处理的头部位置跟踪方法探索", 《现代制造工程》 * |
| 寇超等: "自行高炮模拟仿真实验平台设计与实现", 《火力与指挥控制》 * |
Cited By (31)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109949655A (en) * | 2017-12-21 | 2019-06-28 | 泰勒斯公司 | Display for making aircraft driving information meets the dual coordination approach and system of the wear-type display system of external real world |
| CN109949655B (en) * | 2017-12-21 | 2022-05-13 | 泰勒斯公司 | Dual coordination method and system for head-mounted display system |
| WO2019128677A1 (en) * | 2017-12-29 | 2019-07-04 | 北京七鑫易维信息技术有限公司 | Method and apparatus for determining gazing point based on eye movement analysis device |
| CN108334191A (en) * | 2017-12-29 | 2018-07-27 | 北京七鑫易维信息技术有限公司 | Based on the method and apparatus of the determination blinkpunkt of eye movement analysis equipment |
| CN110134222A (en) * | 2018-02-02 | 2019-08-16 | 上海集鹰科技有限公司 | A kind of VR shows positioning sighting system and its positioning method of sight |
| CN108732746A (en) * | 2018-05-29 | 2018-11-02 | 北京理工大学 | A kind of wear-type visual sight control system |
| CN108981690A (en) * | 2018-06-07 | 2018-12-11 | 北京轻威科技有限责任公司 | A kind of light is used to fusion and positioning method, equipment and system |
| CN108874147A (en) * | 2018-07-12 | 2018-11-23 | 深圳沃利创意工程有限公司 | A kind of VR-BOX experience interactive device |
| CN109445599A (en) * | 2018-11-13 | 2019-03-08 | 宁波视睿迪光电有限公司 | Interaction pen detection method and 3D interactive system |
| CN109828663A (en) * | 2019-01-14 | 2019-05-31 | 北京七鑫易维信息技术有限公司 | Determination method and device, the operating method of run-home object of aiming area |
| CN109857102B (en) * | 2019-01-21 | 2021-06-15 | 大连理工大学 | Wheeled robot formation and tracking control method based on relative position |
| CN109857102A (en) * | 2019-01-21 | 2019-06-07 | 大连理工大学 | A kind of wheeled robot formation and tracking and controlling method based on relative position |
| CN113424012A (en) * | 2019-02-11 | 2021-09-21 | D·富尼 | On-board device with network-connected sighting telescope to allow multiple other devices to track target simultaneously |
| CN110033652A (en) * | 2019-03-11 | 2019-07-19 | 中国民航大学 | A kind of radar dynamic object scaling method and system based on eye movement tracking |
| CN110033652B (en) * | 2019-03-11 | 2021-06-04 | 中国民航大学 | Radar dynamic target calibration method and system based on eye tracking |
| WO2020220284A1 (en) * | 2019-04-30 | 2020-11-05 | 深圳市大疆创新科技有限公司 | Aiming control method, mobile robot and computer-readable storage medium |
| CN110375582A (en) * | 2019-08-13 | 2019-10-25 | 北京缔科新技术研究院(有限合伙) | A kind of laser of view-based access control model information takes aim at mirror and focusing and zooming method |
| CN112489804A (en) * | 2019-09-12 | 2021-03-12 | 北京七鑫易维信息技术有限公司 | Aiming prediction method and device |
| CN110554777A (en) * | 2019-09-24 | 2019-12-10 | 大连理工大学 | Eyeball gaze angle measuring method based on electromagnetic wave tracking |
| CN111190488A (en) * | 2019-12-30 | 2020-05-22 | 华为技术有限公司 | Device control method, communication apparatus, and storage medium |
| CN112332917A (en) * | 2020-10-23 | 2021-02-05 | 军事科学院系统工程研究院网络信息研究所 | Laser communication autonomous tracking and aiming method controlled by inertial navigation |
| CN112509007A (en) * | 2020-12-14 | 2021-03-16 | 科大讯飞股份有限公司 | Real fixation point positioning method and head-wearing sight tracking system |
| CN112633128A (en) * | 2020-12-18 | 2021-04-09 | 上海影创信息科技有限公司 | Method and system for pushing information of interested object in afterglow area |
| CN113473015A (en) * | 2021-06-08 | 2021-10-01 | 荣耀终端有限公司 | Holder control method and electronic equipment |
| CN113536909A (en) * | 2021-06-08 | 2021-10-22 | 吉林大学 | Pre-aiming distance calculation method, system and equipment based on eye movement data |
| CN113473015B (en) * | 2021-06-08 | 2022-03-08 | 荣耀终端有限公司 | Holder control method and electronic equipment |
| CN113932831A (en) * | 2021-09-24 | 2022-01-14 | 成都飞机工业（集团）有限责任公司 | Aircraft magnetic heading calibration method for laser aiming without reference object |
| CN113932831B (en) * | 2021-09-24 | 2023-12-08 | 成都飞机工业（集团）有限责任公司 | Aircraft magnetic heading calibration method for laser aiming without reference object |
| CN114035186A (en) * | 2021-10-18 | 2022-02-11 | 北京航天华腾科技有限公司 | Target position tracking and indicating system and method |
| CN114035186B (en) * | 2021-10-18 | 2022-06-28 | 北京航天华腾科技有限公司 | Target position tracking and indicating system and method |
| CN114500839A (en) * | 2022-01-25 | 2022-05-13 | 青岛根尖智能科技有限公司 | Vision holder control method and system based on attention tracking mechanism |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN107014378A (en) | A kind of eye tracking aims at control system and method | |
| US10215989B2 (en) | System, method and computer program product for real-time alignment of an augmented reality device | |
| Foxlin et al. | Flighttracker: A novel optical/inertial tracker for cockpit enhanced vision | |
| CN108022302B (en) | Stereo display device of Inside-Out space orientation's AR | |
| US7000469B2 (en) | Motion-tracking | |
| US11042028B1 (en) | Relative pose data augmentation of tracked devices in virtual environments | |
| JP6565465B2 (en) | Image display device, computer program, and image display system | |
| EP1280457B1 (en) | Motion-tracking | |
| US10510137B1 (en) | Head mounted display (HMD) apparatus with a synthetic targeting system and method of use | |
| WO2005124694A1 (en) | Device and method for presenting an image of the surrounding world | |
| KR20170032226A (en) | Registration for vehicular augmented reality using auto-harmonization | |
| CN105212418A (en) | Augmented reality intelligent helmet based on infrared night viewing function is developed | |
| EP3631600B1 (en) | Dynamic control of performance parameters in a six degrees-of-freedom sensor calibration subsystem | |
| CN104781873A (en) | Image display device and image display method, mobile body device, image display system, and computer program | |
| CN110458961A (en) | System based on augmented reality | |
| CN107918397A (en) | The autonomous camera system of unmanned plane mobile image kept with target following and shooting angle | |
| CN106255865A (en) | Including the avionics system for specifying the device with labelling ground | |
| CN112525185B (en) | AR navigation method based on positioning and AR head-mounted display device | |
| Atac et al. | Scorpion hybrid optical-based inertial tracker (HObIT) | |
| Foxlin et al. | Improved registration for vehicular AR using auto-harmonization | |
| US20190228583A1 (en) | Systems and methods for tracking object location and orientation in virtual reality environments using ultra-wideband signals, inertia measurement units, and reflective markers | |
| JP7018443B2 (en) | A method to assist in target localization and a viable observation device for this method | |
| US20210081037A1 (en) | Large Area Tracker with Milliwave Boresight Capability | |
| GB2599145A (en) | Large space tracking using a wearable optics device | |
| Frey | Application of inertial sensors and flux-gate magnetometer to real-time human body motion capture |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20170804 |