CN101702055B - Calibrating device for tracing aiming point of typoscope telescope - Google Patents
Calibrating device for tracing aiming point of typoscope telescope Download PDFInfo
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- CN101702055B CN101702055B CN2009102200177A CN200910220017A CN101702055B CN 101702055 B CN101702055 B CN 101702055B CN 2009102200177 A CN2009102200177 A CN 2009102200177A CN 200910220017 A CN200910220017 A CN 200910220017A CN 101702055 B CN101702055 B CN 101702055B
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Abstract
The present invention relates to a calibrating method for tracing an aiming point of a typoscope telescope, which is used for calibrating and tracing the aiming point of the telescope by a driver wearing a typoscope in a behavior state of driving. A calibrator is additionally installed on the typoscope provided with the telescope, and the calibrator comprises a laser transmitter, a calibrator bracket, a connecting element and a laser transmitter fixing bracket, wherein the laser transmitter is installed on the laser transmitter fixing bracket, and three infrared reflecting labels are stuck in the front of a spectacle frame of the typoscope and form a triangular geometrical shape. The movement direction of the typoscope telescope is traced by the infrared reflecting labels, and a calibrating point is positioned by the laser transmitter. The calibrating method is irrelevant to the low-vision driver, and the calibrating process applied to the driving environment is finished by an operator instead of the driver. The invention has the characteristics of convenient use, advanced performance, precise calibration, wide application range, simple structure, and the like.
Description
Affiliated technical field
The present invention relates to the calibration steps that a kind of aiming point of typoscope telescope is followed the tracks of, especially the driver who wears typoscope is taken aim at a tracking to telescope in the driving behavior state and carry out Calibration Method.
Background technology
Along with the growth in people's life-span, the low eyesight crowd quantity relevant with the age is also increasing.According to the U.S.'s demography in 2000, estimating at 2,400,000 U.S. adults is low eyesights (best vision after the rectification is lower than 20/40).Because can not satisfy visual demand, many people have lost the driving chance, thereby quality of life has been caused influence.Bring into use the eyesight aid from the fifties, both typoscopes of rigid telescope on glasses, and begin to be used for to drive in the sixties.The amplification that utilizes typoscope telescope to provide can compensate the decline of eyesight; At present, there are 39 states to allow low eyesight crowd to use this typoscope to drive in the U.S..In the time of most of, the typoscope user uses conventional eyeglass partly to observe surrounding environment, to not influence of visual field; The user uses telescope to observe the road surface situation by slight bowing off and on, as reads guideboard, observation traffic lights etc.By the 1-2 telescope scanning of second, the typoscope user can discern the high-resolution detailed information of the object of observation.Though wear the typoscope steering vehicle abroad is a legal selection, and the use of typoscope telescope will be offered help or influence driving driving is a controversial problem all the time.But support side and opposition side that typoscope is driven agree that all typoscope telescope can cause the optics blind area of ring-type.According to telescopical enlargement factor, during by the telescope observing scene, the visual field of amplification can occupy bigger retinal area than the normal view of not amplifying.Just formed the blind area of an annular around like this in telescopical visual field.Therefore when traffic hazard took place the driver who wears typoscope, very difficult judgement was because the narrower visual field of telescope blocks relevant scene or because the driver does not use telescope to can't see the traffic hazard that important information such as traffic sign cause.By collect the typoscope driver in the drive routine behavior to telescopical operating position and utilize telescope can see what is very crucial to addressing the above problem.According to the existing in prior technology problem, develop a kind of calibrating installation of novel typoscope telescope, by adopting the sight tracing of typoscope telescope, promptly telescope take aim at a little the computing method in road scene image need be accurate to can judge the driver by telescope observation what.And calibration is the core content of sight tracing.Generally, the calibration steps of eye tracking requires the user to watch the calibration point of latticed arrangement on the screen attentively, and the position of writing down label or unique point simultaneously generally be to carry out indoor, and calibration point is to be positioned on the computer screen.If yet calibration point is more, accurately locatees each calibration point and will make mistakes more loaded down with trivial details and easily.For low-vision driver, the research object in for example low eyesight driving behavior research is the relatively poor people of eyesight especially, and the calibration process that they finish this numerous length will be very difficult.Certainly the quantity of calibration point can reduce by the quantity that increases video camera and infrared light supply, but this will increase the cost and the complexity of system.And calibrating installation of the present invention does not adopt the fixed calibration point, thereby has overcome above-mentioned restriction.
Summary of the invention
At the existing in prior technology problem, the purpose of this invention is to provide a kind of new eye tracking and take aim at point calibration method, owing on typoscope telescope, increased calibrating installation, the telescope that can not only be used for the typoscope driver is like this taken aim at calibrating of a tracking, and can be conveniently used in realizing calibration process under the driving environment, can replace low-vision driver to finish by the operator, not need low eyesight human pilot to participate in calibration process.Have characteristics such as easy to use, advanced in performance, that calibration is accurate, widely applicable, simple in structure.
For solving the problems of the technologies described above, the application has adopted following technical scheme:
A kind of calibration steps of tracing aiming point of typoscope telescope, be used to install telescopical typoscope, install a calibrating device (4) on telescopical typoscope (3) is installed additional, calibrating device (4) is made up of generating laser (4.1), calibrating device support (4.2), web member (4.3), generating laser fixed support (4.4); Generating laser (4.1) is installed on the generating laser fixed support (4.4), and three infrared external reflection labels (6) stick on the front portion of the spectacle-frame of typoscope (3), and three infrared external reflection labels (6) are formed leg-of-mutton geometric configuration; By paste infrared external reflection label (6) on the spectacle-frame of typoscope (3), the direction of motion of following the tracks of typoscope telescope adopts generating laser (4.1) to carry out the location of calibration point; By web member (4.3) generating laser fixed support (4.4) is connected on the calibrating device support (4.2), and can serve as that axle carries out the horizontal direction rotation with connecting piece (4.3), and drive generating laser (4.1) rotation, thereby the laser spots of generating laser (4.1) projection can be moved in vertical direction; Generating laser (4.1) is fixed on the connecting piece (4.3), thereby the laser spots of generating laser (4.1) projection can be moved in the horizontal direction; The infrared external reflection label is by the infrared light supply irradiation that is fixed in the thermal camera, this thermal camera is aimed at head, record driver's head image and retro-reflective label, in calibration process, typoscope is worn personnel's moving-head freely, thereby drive the laser spots scanning whole scene visual field of generating laser projection, the scene video image is by the scene camera record, make head and scene video image by synchronous recording, like this laser spots in scene image the position and the position of the retro-reflective label on the spectacle-frame in each two field picture, be mapped, thereby set up the corresponding relation of retro-reflective label and laser spots position in scene; By angle arbitrarily given in scene to calculating a telescopical position of taking aim at; This calibration steps and low-vision driver are irrelevant, replace the driver to finish by operating personnel; In calibration process at driver's head-mount typoscope (3) with the calibrating device (4) of laser beam emitting device is installed; And driver's head does not need to wear calibrating device (4) when eye tracking, only wears typoscope (3) and gets final product.
Characteristics of the present invention and beneficial effect
1, use of the present invention is the tracking that adopts calibration label, have simple, stable and accurate, be widely used in the practical application, as when using the head tracking instrument, label must be combined closely with head position, and the restriction that the present invention has avoided telescopical position and face feature point position to change easily.Because the present invention directly is fixed on label on the spectacle-frame, thus overcome the problems referred to above, and realize easily detecting automatically.
2, utilize the present invention to detect,, just can calculate position and the direction of label, and calculate telescope thus and take aim at a little direction, the i.e. position of sight line in the space in case label is detected.
3, when adopting prior art to follow the tracks of the typoscope pilot's line of vision, the eyes that directly detect the driver are comparison difficulties, because typoscope telescope blocks driver's eyes through regular meeting.And utilize the present invention not need to detect driver's eyes, because when the driver observes object by telescope, driver's sight line will be alignd with telescopical axle, driver's sight line will concentrate in the telescopical visual field, therefore telescopically take aim at a little to come out according to the position calculation of spectacle-frame, the tracking spectacle-frame just can be followed the tracks of and obtain telescopical taking aim at a little.The infrared external reflection label is sticked on the typoscope spectacle-frame, on the camera lens of the video camera of head shot, infrared band pass filter has been installed, label clearly is detected in the actual driving environment that ambient light often changes.
4, the present invention adopt a kind of new stable, flexibly, simple calibration steps, it can be calibrated in its car by the typoscope that the staff wears the driver, and does not need the participation of low-vision driver.The method that the present invention adopts is the calibration steps of a kind of wide field scape, and a large amount of calibration points that is arranged in the visual field all can obtain easily and be used for estimating that telescope takes aim at position a little.
5, use of the present invention does not need the calibration point fixed, does not need operating personnel's manual alignment calibration point.From taking aim at a little of motion tracking typoscope telescope, irrelevant with driver itself, so calibration process can replace low-vision driver to finish by the operator.
6, calibrating device of the present invention is a device that separates with typoscope, can be applied on any typoscope.When the user wears typoscope, calibrating device can be placed on the top of typoscope, can guarantee generating laser on the calibrating device and the telescope synchronous operation on the typoscope like this, its effect is fixed on the typoscope the same with generating laser.But independently calibrating device provides greater flexibility, and it can freely be rotated around connecting piece on two-dimensional directional, thereby the laser spots that can adjust the generating laser projection is being moved on the direction up and down.
7, owing to aiming point of typoscope telescope tracking among the present invention is the position of recording laser spots with the scene video camera, and with it as removable calibration point, the scene video camera is installed in the front of room mirror, and laser spots is projected on the calibration plane (metope) by generating laser, so the automobile windscreen will influence the extraction of calibration point to the reflection of laser spots.The present invention is installed in the scene video camera on the position of being close to windscreen, thereby avoids the influence of windscreen reflection to the laser spots image.
Description of drawings
The utility model has six accompanying drawings, wherein:
Accompanying drawing 1 is the front view of the calibrating installation of typoscope telescope.
Accompanying drawing 2 is vertical views of the calibrating installation of typoscope telescope.
Accompanying drawing 3 is right views of the calibrating installation of typoscope telescope.
Accompanying drawing 4 is calibrating installation calibration steps fundamental diagrams of typoscope telescope.
Accompanying drawing 5 is the retro-reflective label figure on the typoscope picture frame.
Accompanying drawing 6 is triangular graphs that the retro-reflective label on the typoscope picture frame is formed.
Among the figure: 1. aim at the thermal camera of head shooting, 2. road scene video camera,
3. typoscope, the 3.1. typoscope telescope, 4. calibrating device, the 4.1. generating laser,
4.2. the calibrating device support, the 4.3. web member, 4.4. generating laser fixed support,
5. driver's head, 6. infrared external reflection label, the 7. laser spots of generating laser projection,
8. telescopical taking aim at a little, 9. calibration plane (wall),
A, b, c are leg-of-mutton three drift angles of label, and A, B, C are leg-of-mutton three interior angles of label.
Embodiment
The specific embodiment of the present invention is shown in accompanying drawing 1-3, and calibrating device 4 is made up of generating laser 4.1, calibrating device support 4.2, web member 4.3, generating laser fixed support 4.4.By web member 4.3 generating laser fixed support 4.4 is connected on the calibrating device support 4.2.And can serve as that axle carries out the horizontal direction rotation with connecting piece 4.3, and drive generating laser 4.1 rotations, thus the laser spots of generating laser 4.1 projections can be moved in vertical direction.Generating laser 4.1 is fixed on the connecting piece, thereby the laser spots of generating laser 4.1 projections can be moved in the horizontal direction.Generating laser 4.1 among the present invention is to adopt laser pen.Calibrating device 4 can freely be dismantled on calibrating device support 4.2.
Principle of work of the present invention:
1, windscreen will influence the image of laser spots among the present invention to the reflection of laser spots.The nearly image of three laser spots will appear in scene image, they are: laser spots is at the mirror image of the image of reflection spot on the automobile front panel on windscreen of laser spots image on the image on the windscreen, the windscreen, and the projection of laser spots on metope.For avoiding the generation of this situation, we have improved the position of scene video camera, have redesigned scene video camera box, make this video camera press close to windscreen fully, and block reflected light by the outer box of video camera.
2, three infrared external reflection labels 6 stick on the front portion of typoscope spectacle-frame among the present invention; These retro-reflective labels are by the 890nm infrared LED light source irradiation that is fixed in the thermal camera.Infrared is an invisible light to the driver, therefore can not influence driving.Aim at the thermal camera record driver's of head head image and retro-reflective label.Three labels in the infrared image can also can detect under extraneous light variation situation greatly with being stabilized.If the sunlight direct projection can impact testing result on label the time, but the driver can not allow their eyes of sunlight direct projection when driving, live sunlight and use the sunshading board shelves, so just can allow label remain in the shade, obtains the quite good detecting result.Telescopical taking aim at a little is that the triangle that forms with three labels is relevant as shown in Figure 6, this leg-of-mutton shape will along with head up and down and move and change, but it changes not quite during the head translation.Leg-of-mutton big young pathbreaker changes along with the distance of head and video camera, but this variation do not influence telescope take aim at a little direction and in road scene the position.Therefore, telescopical taking aim at a little can calculate with two triangular shaped interior angles of representative.Because thermal camera is positioned at driver's left front, thus catch triangular shaped along with head rotation and change.Like this, three infrared external reflection labels 6 just can be used as unique point and come taking aim at a little of tracking telescope.
3, a generating laser 4.1 among the present invention is installed in the shank of calibrating device support, on the calibration plane 9 (as metope) of these generating laser 4.1 brighter laser spots of projection in the scene camera field of view.Though the position of laser spots is arbitrarily, it positions by image process method than being easier to.When moving-head scanning scene, the track while scan of laser spots provides a series of calibration point, and head movement and scene image are also noted simultaneously by corresponding video camera.We just can obtain a large amount of calibration points that is arranged in scene image like this, and do not need low-vision driver to participate in, and the experimenter just can finish this operation.This calibration steps does not need the user painstakingly to watch attentively and any calibration point that aligns, and has greatly made things convenient for calibration process.
4, the present invention as shown in Figure 4, calibration is (for example, this wall is called " calibration plane " apart from 5 meters in video camera) of carrying out previously at a face wall.Generating laser 4.1 is fixed on the shank of spectacle frame, and the crevice projection angle of adjusting generating laser 4.1 makes the laser spots of its projection and overlaps on metope by telescopical sight line.So just almost completely compensated the error that causes by the distance between telescope and the generating laser.In calibration process, typoscope is worn personnel's moving-head freely, thereby drives laser spots scanning whole scene visual field, and head and scene video image are got off by synchronous recording.Like this laser spots in scene image the position and the position of the retro-reflective label on the spectacle-frame in each two field picture, be mapped, thereby set up the corresponding relation of retro-reflective label and laser spots position in scene.
5, utilize the present invention, the sight line of driver when using telescope watched content attentively, and just telescope is taken aim at a little, can represent with the leg-of-mutton geometric configuration that three retro-reflective labels are formed.When the operator calibrates with laser pen 4.1 scanning scenes, the leg-of-mutton shape of label along with laser spots in scene the position and change, this laser spots is that telescope is taken aim at a little.We determine to take aim at a little with the method for nonlinear fitting and by (A, C) angle to the representative triangular shaped between relation.The inverse operation of this relation, through interpolation, can be by angle given arbitrarily in scene to calculating a telescopical position of taking aim at.Like this, primary calibration to vehicle and typoscope glasses just can be applied to this corresponding relation in typoscope driver's the drive routine, and the scene image of camera record and label image just can utilize this calibration relation to determine the telescopical some position in scene image of taking aim at.
6, utilize the present invention to calibrate, adjust generating laser before the calibration and make its laser spots be positioned at the center of range of telescope in the projection of calibration metope.In the calibration process, operator's rotation head uses the visual field of laser spots light at level and vertical scan direction whole scene video camera.The track of the laser spots of scene camera record, the pairing telescope of each laser spots are taken aim at a position and are calculated by leg-of-mutton two interior angle A of label and the C that thermal camera writes down.
7, application of the present invention has realized a kind of new eye tracking calibration steps, this method can be only in the driver's who wears typoscope car internal calibration once, and do not need calibration point, just can use this typoscope to carry out a telescopical tracking of taking aim at.Though this method very simply can be used for the driving behavior research of low-vision driver, the operator can replace the driver to carry out calibration operation, and this calibration steps also can be used for conventional pilot's line of vision to be followed the tracks of.The tracking that telescope is taken aim at a little is based on the leg-of-mutton shape that three retro-reflective labels are formed, and this label can be by the infrared photography record of taking driver's head.Because used infrared light supply, the light variation is insensitive to external world in this system, and antijamming capability is stronger.Under the prerequisite of head that does not need to limit the driver and body kinematics, this system also can reach eye tracking effect preferably.
Claims (2)
1. the calibration steps of a tracing aiming point of typoscope telescope is used to install telescopical typoscope, it is characterized in that:
Install a calibrating device (4) on telescopical typoscope (3) is installed additional, calibrating device (4) is made up of generating laser (4.1), calibrating device support (4.2), web member (4.3), generating laser fixed support (4.4);
Generating laser (4.1) is installed on the generating laser fixed support (4.4), and three infrared external reflection labels (6) stick on the front portion of the spectacle-frame of typoscope (3), and three infrared external reflection labels (6) are formed leg-of-mutton geometric configuration; By paste infrared external reflection label (6) on the spectacle-frame of typoscope (3), the direction of motion of following the tracks of typoscope telescope adopts generating laser (4.1) to carry out the location of calibration point;
By web member (4.3) generating laser fixed support (4.4) is connected on the calibrating device support (4.2), and can serve as that axle carries out the horizontal direction rotation with web member (4.3), and drive generating laser (4.1) rotation, thereby the laser spots of generating laser (4.1) projection can be moved in vertical direction; Generating laser (4.1) is fixed on the web member (4.3), thereby the laser spots of generating laser (4.1) projection can be moved in the horizontal direction;
The infrared external reflection label is by the infrared light supply irradiation that is fixed in the thermal camera, this thermal camera is aimed at head, record driver's head image and retro-reflective label, in calibration process, typoscope is worn personnel's moving-head freely, thereby drive the laser spots scanning whole scene visual field of generating laser projection, the scene video image is by the scene camera record, make head and scene video image by synchronous recording, like this laser spots in scene image the position and the position of the retro-reflective label on the spectacle-frame in each two field picture, be mapped, thereby set up the corresponding relation of retro-reflective label and laser spots position in scene; By angle arbitrarily given in scene to calculating a telescopical position of taking aim at;
This calibration steps and low-vision driver are irrelevant, replace the driver to finish by operating personnel; In calibration process at driver's head-mount typoscope (3) with the calibrating device (4) of laser beam emitting device is installed; And driver's head does not need to wear calibrating device (4) when eye tracking, only wears typoscope (3) and gets final product.
2. the calibration steps of tracing aiming point of typoscope telescope according to claim 1, it is characterized in that: generating laser (4.1) is the high power laser light pen.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2009102200177A CN101702055B (en) | 2009-11-18 | 2009-11-18 | Calibrating device for tracing aiming point of typoscope telescope |
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| Application Number | Priority Date | Filing Date | Title |
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| CN2009102200177A CN101702055B (en) | 2009-11-18 | 2009-11-18 | Calibrating device for tracing aiming point of typoscope telescope |
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| CN101702055A CN101702055A (en) | 2010-05-05 |
| CN101702055B true CN101702055B (en) | 2011-09-07 |
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| CN2009102200177A Expired - Fee Related CN101702055B (en) | 2009-11-18 | 2009-11-18 | Calibrating device for tracing aiming point of typoscope telescope |
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Families Citing this family (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102510480B (en) * | 2011-11-04 | 2014-02-05 | 大连海事大学 | Automatic calibrating and tracking system of driver sight line |
| US9147248B2 (en) * | 2012-12-21 | 2015-09-29 | Tobii Technology Ab | Hardware calibration of eye tracker |
| CN104536556B (en) * | 2014-09-15 | 2021-01-15 | 联想(北京)有限公司 | Information processing method and electronic equipment |
| CN105078404B (en) * | 2015-09-02 | 2017-05-10 | 北京津发科技股份有限公司 | Fully automatic eye movement tracking distance measuring calibration instrument based on laser algorithm and use method of calibration instrument |
| CN110297325B (en) * | 2018-03-22 | 2023-01-13 | 蔚来控股有限公司 | Augmented reality glasses and system and method for displaying information on vehicle by augmented reality glasses |
| CN113038114B (en) * | 2021-02-01 | 2022-08-16 | 中国船舶重工集团公司第七0九研究所 | AR simulation system and method based on human visual characteristics |
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| CN1905834A (en) * | 2004-01-24 | 2007-01-31 | 卡尔蔡斯视觉股份有限公司 | Method and vision test apparatus for determining the necessity of a vision aid during darkness and/or twilight, and a set of vision aids |
| US7306331B1 (en) * | 2005-10-06 | 2007-12-11 | Alan Tigert | Vision protection device for night driving |
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2009
- 2009-11-18 CN CN2009102200177A patent/CN101702055B/en not_active Expired - Fee Related
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
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| US5252997A (en) * | 1991-05-15 | 1993-10-12 | Christenbery Charles R | Visual aid for night driving |
| CN1153557A (en) * | 1994-06-24 | 1997-07-02 | 罗斯克·C·威廉斯有限公司 | Electronic viewing aid |
| CN1905834A (en) * | 2004-01-24 | 2007-01-31 | 卡尔蔡斯视觉股份有限公司 | Method and vision test apparatus for determining the necessity of a vision aid during darkness and/or twilight, and a set of vision aids |
| US7306331B1 (en) * | 2005-10-06 | 2007-12-11 | Alan Tigert | Vision protection device for night driving |
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