CN108108021A - The outer parameter correction gauge of tracing of human eye system and bearing calibration - Google Patents
The outer parameter correction gauge of tracing of human eye system and bearing calibration Download PDFInfo
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- CN108108021A CN108108021A CN201711417272.1A CN201711417272A CN108108021A CN 108108021 A CN108108021 A CN 108108021A CN 201711417272 A CN201711417272 A CN 201711417272A CN 108108021 A CN108108021 A CN 108108021A
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- 238000012937 correction Methods 0.000 title claims abstract description 23
- 238000003384 imaging method Methods 0.000 claims abstract description 36
- 238000013507 mapping Methods 0.000 claims abstract description 13
- 238000000034 method Methods 0.000 claims description 13
- 239000011159 matrix material Substances 0.000 claims description 6
- 230000003287 optical effect Effects 0.000 claims description 6
- 238000006073 displacement reaction Methods 0.000 claims description 3
- 238000013508 migration Methods 0.000 abstract description 4
- 230000005012 migration Effects 0.000 abstract description 4
- 230000000007 visual effect Effects 0.000 abstract description 4
- 241000208340 Araliaceae Species 0.000 description 4
- 235000005035 Panax pseudoginseng ssp. pseudoginseng Nutrition 0.000 description 4
- 235000003140 Panax quinquefolius Nutrition 0.000 description 4
- 235000008434 ginseng Nutrition 0.000 description 4
- 230000010354 integration Effects 0.000 description 4
- 238000009877 rendering Methods 0.000 description 4
- 238000010586 diagram Methods 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 3
- 210000003128 head Anatomy 0.000 description 2
- 238000000605 extraction Methods 0.000 description 1
- 210000000887 face Anatomy 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 238000010561 standard procedure Methods 0.000 description 1
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F3/00—Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
- G06F3/01—Input arrangements or combined input and output arrangements for interaction between user and computer
- G06F3/011—Arrangements for interaction with the human body, e.g. for user immersion in virtual reality
- G06F3/013—Eye tracking input arrangements
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/70—Determining position or orientation of objects or cameras
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/80—Analysis of captured images to determine intrinsic or extrinsic camera parameters, i.e. camera calibration
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- Human Computer Interaction (AREA)
- Length Measuring Devices By Optical Means (AREA)
Abstract
The embodiment of the invention discloses parameter correction gauge and bearing calibrations outside a kind of tracing of human eye system.Wherein, correcting fixture includes：Chessboard panel, for establishing the mapping relations between world coordinate system and tracing of human eye camera imaging plane coordinate system；Slide, for placing chessboard panel, chessboard panel can be slid on slide at different position；Traction electric machine moves for drawing chessboard panel on the different position of slide；Tracing of human eye camera, for shooting the pattern of chessboard panel；Computer for receiving the pattern of the chessboard panel captured by tracing of human eye camera and carrying out graphical analysis, determines the outer parameter of tracing of human eye system.The embodiment of the present invention can unify screen display space coordinate system and tracing of human eye camera imaging space coordinates, allow the coordinate information of human eye including depth including of the computer directly according to given by tracing of human eye, automatic adjustment row's figure cycle, and row's map migration amount, user is made there are good vision 3D visual effects.
Description
Technical field
The present embodiments relate to bore hole 3D display technologies more particularly to a kind of outer parameter correction of tracing of human eye system to control
Tool and bearing calibration.
Background technology
Tracing of human eye bore hole 3D display system is a system by tracing of human eye system and the 3D display system integration,
3D display picture can be adjusted from the position of motion tracking eyes of user when user uses bore hole 3D equipment, user is made to have well
Viewing experience.After tracing of human eye system and the 3D display system integration, it is necessary to the outer parameter of tracing of human eye camera into
Row adjustment, i.e., to using display screen coordinate system as the parameter in world coordinate system, for example the position of camera, direction of rotation are joined
Number is adjusted, and enables camera by shooting human eye acquisition of information to the correct location information of human eye.
In prior art, the ripe scheme of the correction of the 3D display system based on tracing of human eye is not directed to, and not
It can be by automatically completing bearing calibration.
The content of the invention
The embodiment of the present invention provides a kind of outer parameter correction gauge of tracing of human eye system and bearing calibration, to realize in people
Eye tracking system completes tracing of human eye with shooting coordinate system and the unification of displaing coordinate system after the system integration of bore hole 3D display
The outer parameter of system automatically corrects.
In a first aspect, an embodiment of the present invention provides parameter correction gauge outside a kind of tracing of human eye system, the correcting fixtures
Including：
Chessboard panel, for establishing the mapping between world coordinate system and tracing of human eye camera imaging plane coordinate system
Relation, wherein, the coordinate of each point is known in world coordinate system in chessboard panel；
Slide is arranged at the center origin of display screen and perpendicular to display screen plane, with world coordinate system z-axis
It overlaps, for placing chessboard panel, chessboard panel can be slid on slide at different position；
Traction electric machine is arranged on slide, and parameter correction is carried out at the different position of slide when needing chessboard panel
When, it is moved for drawing chessboard panel on the different position of slide；
Tracing of human eye camera is arranged on display screen at any position, for shooting the pattern of chessboard panel；
Computer for receiving the pattern of the chessboard panel captured by tracing of human eye camera and carrying out graphical analysis, obtains
Each point is additionally operable to according to tracing of human eye in the corresponding coordinate of tracing of human eye camera imaging plane coordinate system on to chessboard panel
Coordinate in each point world coordinate system on system intrinsic parameter, chessboard panel, in chessboard panel each point in tracing of human eye camera imaging
The corresponding coordinate of plane coordinate system, which calculates, determines the outer parameter of tracing of human eye system.
Second aspect, the embodiment of the present invention additionally provide a kind of outer parameter correcting method of tracing of human eye system, this method bag
It includes：
Chessboard panel is obtained at slide first position, the gridiron pattern plate pattern that tracing of human eye camera takes；
The characteristic point in the gridiron pattern plate pattern with outer number of parameters respective numbers to be corrected is extracted to take the photograph in tracing of human eye
Corresponding coordinate in picture head imaging plane coordinate system,
According to each characteristic point in chessboard panel in coordinate and the chessboard panel of world coordinate system each characteristic point human eye with
The mapping relations of corresponding coordinate determine the outer parameter of tracing of human eye system in track camera imaging plane coordinate system.
The embodiment of the present invention is carried out by using the pattern in tracing of human eye camera shooting chessboard panel by computer
Graphical analysis is established characteristic point in chessboard panel and is sat in screen display space coordinate system and tracing of human eye camera imaging space
The mapping relations of system are marked, and then determine the outer parameter of tracing of human eye system, unified two spaces coordinate system allows computer straight
The coordinate information according to the human eye including depth given by tracing of human eye is connect, automatic adjustment row's figure cycle and row's figure are inclined
Shifting amount makes user have good vision 3D visual effects.
Description of the drawings
Fig. 1 is the structure diagram of the outer parameter correction gauge of tracing of human eye system in the embodiment of the present invention one；
Fig. 2 is display space and the definition of tracing of human eye imaging space and relation schematic diagram in the embodiment of the present invention one；
Fig. 3 is the flow chart of the outer parameter correcting method of tracing of human eye system in the embodiment of the present invention two.
Specific embodiment
The present invention is described in further detail with reference to the accompanying drawings and examples.It is understood that this place is retouched
The specific embodiment stated is used only for explaining the present invention rather than limitation of the invention.It also should be noted that in order to
Convenient for description, part related to the present invention rather than entire infrastructure are illustrated only in attached drawing.
Embodiment one
Fig. 1 is the schematic diagram for the outer parameter correction gauge of tracing of human eye system that the embodiment of the present invention one provides, which is school
The top view of positive gauge, the present embodiment are applicable to the outer parameter correction situation of tracing of human eye system.As shown in Figure 1, the correction is controlled
Tool specifically includes：
Chessboard panel 110, for establishing reflecting between world coordinate system and tracing of human eye camera imaging plane coordinate system
Penetrate relation, the coordinate of each point is known in world coordinate system in chessboard panel.
Wherein, world coordinate system be using display screen center as origin, screen long axis be y-axis, screen short axle is x-axis, screen
The coordinate system that curtain centre normal is established by z-axis；Tracing of human eye camera imaging plane coordinate system is with camera planar central
Point is origin, camera camera plane transverse axis is x-axis, the camera camera plane longitudinal axis is y-axis, camera plane optical axis is z-axis
The coordinate system established.
Specifically, in calibration, the length of each checker is to preset and known ginseng in chessboard panel
Number, this length is identical with physical length, and the result that so calibration is drawn can be directly used for actual range measurement.Each chess
The length of disk grid is generally in units of millimeter, if necessary to can more accurately be set to 0.1 millimeter magnitude.
Slide 120 is arranged at the center origin of display screen and perpendicular to display screen plane, with world coordinate system z
Overlapping of axles, for placing chessboard panel, chessboard panel can be slid on slide at different position.
In fig. 2, display screen 150 and the intersection point of horizontal dotted line are the center origin of screen, slide 120 and level
Dotted line overlaps, perpendicular to display screen 150.
Traction electric machine 130, is arranged on slide, and parameter school is carried out at the different position of slide when needing chessboard panel
Timing is moved for drawing chessboard panel on the different position of slide.
In the present embodiment, the merely exemplary position for showing traction electric machine 130 and being arranged on slide 120, specifically
Setting of the traction electric machine 130 when the position on slide 120 depends on correcting fixture in practical application.
Tracing of human eye camera 140 is arranged on display screen at any position, for shooting the pattern of chessboard panel.
Tracing of human eye camera 140 is arranged on display screen 150, can be the left side of display screen 150, right side or
It is centre position, it is preferred that be arranged at the top centre position of display screen 050 as shown in Figure 1.When tracing of human eye images
After first 040 takes the pattern of chessboard panel, captured image can be sent to computer 160 and carry out graphical analysis, to obtain
It must determine the required parameter of the outer parameter of tracing of human eye system.
Computer 160, for receiving the pattern of the chessboard panel captured by tracing of human eye camera and carrying out image point
Analysis obtains in chessboard panel each point in the corresponding coordinate of tracing of human eye camera imaging plane coordinate system, is additionally operable to according to human eye
Coordinate in each point world coordinate system on tracking system intrinsic parameter, chessboard panel, in chessboard panel each point in tracing of human eye camera
The corresponding coordinate of imaging plane coordinate system, which calculates, determines the outer parameter of tracing of human eye system.
Further, the outer parameter of tracing of human eye camera includes：Tracing of human eye camera is in three axis of world coordinate system
Rotation parameter R and displacement parameter T.Outer ginseng determines position and orientation of the tracing of human eye camera in world coordinate system.This
A little parameters can establish the mapping relations of world coordinate system and imaging coordinate system, you can with these parameters a three-dimensional space
Between in point be mapped to image space.
Specifically, tracing of human eye bore hole 3D display system mainly includes 3D display module and tracing of human eye system, 3D display
Module includes a display screen and the optical element for 3D visual effects are presented, and wherein optical element can be prism,
Can be grating, optical element is arranged according to certain cycle and slope.When 3D display system and tracing of human eye camera
After intrinsic parameter and distortion complete correction, then 3D display module and tracing of human eye system are integrated, form tracing of human eye
Bore hole 3D display system, can be according to the imaging parameters of the variation adjust automatically 3D rendering of eye space position, such as row's figure week
Phase, row's map migration amount, make user have good 3D visual effects.
After 3D display module and the tracing of human eye system integration, have a two spaces coordinate system, display space coordinate system with
Tracing of human eye imaging space coordinate system.As shown in Fig. 2, the definition of display space coordinate system is using 3D display plane as coordinate system
Middle x/y plane, screen center are origin, and screen long axis is y-axis, and screen short axle is x-axis, and it is z-axis to define screen center's normal；People
The definition of eye tracking imaging space is, using tracing of human eye camera camera plane as tracing of human eye plane, i.e. x/y plane, wherein
Origin is camera plane origin, and x-axis is camera camera plane x-axis, and y-axis is that camera plane y-axis z-axis is that camera is put down
Face optical axis (i.e. x/y plane normal).The two coordinate systems are devious, it is impossible to will directly be shot according to tracing of human eye camera
The eye space position coordinates analyzed of eye image be used for adjusting the row of display image screen and scheme cycle and row's map migration
Amount, the 3D rendering that otherwise human eye is watched are present with the situation of left and right aliasing or reversion.Therefore, it is necessary to pass through correcting fixture
The outer parameter of tracing of human eye system is corrected, to realize that tracing of human eye coordinate system is matched with displaing coordinate system.
Realize that the process of the outer parameter correction of tracing of human eye system is as follows：
First, the image that a certain position goes out on slide 120 of chessboard panel 110 is shot with tracing of human eye camera 140,
And send images to computer 160 and analyzed, computer 160 is extracted by crossing graphical analysis in chessboard panel 110
Coordinate of the characteristic point (intersection point i.e. in gridiron pattern) under 140 imaging coordinate system of tracing of human eye camera.In addition, chessboard panel
Each tessellated length of side is known and is one-to-one, i.e. chess with the coordinate of the display screen in world coordinate system in 110
Coordinate of the characteristic point under world coordinate system in disk panel 110 is known.Existed according to a characteristic point in chessboard panel 110
The intrinsic parameter of coordinate and tracing of human eye camera 140 under two coordinate systems, computer can by analysis draw, human eye with
The outer parameter of track system.
Further, the different position that chessboard panel 110 arrives slide 120 can be moved by traction electric machine 130, more
The outer parameter for drawing tracing of human eye system is analyzed in a different position respectively, and then determines a more accurate result conduct
The outer parameter of final tracing of human eye system.
The technical solution of the present embodiment passes through tracing of human eye camera, chessboard panel, slide, traction electric machine, computer
The outer parameter correction gauge of tracing of human eye system is formed, automatically correcting for outer parameter can be realized, make display space coordinate system and people
Eye tracking imaging space coordinate system is unified, so can directly according to the row of eye space Coordinate Adjusting 3D rendering scheme the cycle and
Map migration amount is arranged, correction is efficient, reduces manual synchronizing cost.
Embodiment two
Fig. 3 is the flow chart of the outer parameter correcting method of tracing of human eye system provided by Embodiment 2 of the present invention, the present embodiment
It is applicable to the outer parameter correction situation of tracing of human eye system, the correcting fixture provided by above-described embodiment realizes the party
Method.This method specifically includes：
S310, chessboard panel is obtained at slide first position, the chessboard panel figure that tracing of human eye camera takes
Case.
Specifically, the length of each checker is to preset and known parameter in chessboard panel, chessboard panel
It is placed on slide and faces display screen, the coordinate that each in chessboard panel is put is compared with world coordinate system, that is, display screen
Curtain space coordinates are known.Chessboard panel can be an arbitrary position on slide at slide first position.Human eye
The pattern for the chessboard panel that tracking camera takes is the gridiron pattern in entire chessboard panel, including each gridiron pattern
The intersection point of line.
Characteristic point in S320, the extraction gridiron pattern plate pattern with outer number of parameters respective numbers to be corrected is in human eye
Track corresponding coordinate in camera imaging plane coordinate system.
Wherein, the intersection point of the known chessboard ruling under world coordinate system of characteristic point, that is, coordinate in gridiron pattern plate pattern.
It is identical with outer ginseng number to be determined to extract the quantity of characteristic point, therefore can establish identical with outer ginseng number to be determined
Equation, and then determine each outer parameter.
S330, according to each characteristic point in chessboard panel, each characteristic point exists in the coordinate of world coordinate system and chessboard panel
The mapping relations of corresponding coordinate determine the outer parameter of tracing of human eye system in tracing of human eye camera imaging plane coordinate system.
Wherein, in chessboard panel each characteristic point in coordinate and the chessboard panel of world coordinate system each characteristic point in human eye
The mapping relations of corresponding coordinate are in tracking camera imaging plane coordinate system：
WU=AsRtx, wherein wU are each characteristic point of chessboard panel coordinate position in tracing of human eye camera imaging plane
Matrix, As are tracing of human eye camera internal reference number, and Rt is the outer parameter matrix of tracing of human eye camera, and x is each feature of chessboard panel
Coordinates matrix of the point under world coordinate system.
Pass through the coordinate of above-mentioned mapping relations and known intrinsic parameter, characteristic point under two coordinate systems, you can derive
Parse the outer parameter of tracing of human eye system：
WU=AsRtx
Rt=As-1wUxT(xxT)-1
Wherein,It has determined, corrects when correcting intrinsic parameter and distortion for camera intrinsic parameter
Method is to employ the standard method of camera internal reference correction, αxAnd αyFocal length, x are represented respectively0And y0Represent principal point coordinate, s
It is ideally 0 for reference axis tilt parameters；For outer parameter, r represents that tracing of human eye camera exists
Compared with the rotation amount of three reference axis under world coordinate system, t represent tracing of human eye camera under world coordinate system compared with
The displacement of the center origin of three reference axis；For coordinate of the gridiron pattern each point under world coordinate system, it isGridiron pattern
A point position coordinates in tracing of human eye coordinate imaging plane.
Further, in order to improve the accuracy of the outer parameter corrected, mobile chessboard panel to difference can also be passed through
Position repeats the above process the outer parameter of definite tracing of human eye system respectively, specifically comprises the following steps：
Tracing of human eye camera is obtained to shoot at least one position in addition to first position in slide in chessboard panel
Obtained at least one gridiron pattern plate pattern；According to corresponding to outer number of parameters to be corrected at least one gridiron pattern plate pattern
Each characteristic point of quantity is in the coordinate of world coordinate system and each characteristic point in tracing of human eye camera imaging plane coordinate system
In the mapping relations of corresponding coordinate determine the outer parameter of at least one tracing of human eye system；According at least one tracing of human eye system
The outer parameter of system determines the outer parameter of final tracing of human eye system.
When chessboard panel obtains parameter outside tracing of human eye system respectively at different locations, can by weighted average or
It is that other mathematical algorithms determine the higher outer parameter of an accuracy, the outer parameter as tracing of human eye system.
The technical solution of the present embodiment is taken the photograph by shooting chessboard panel image and analyzing wherein characteristic point in tracing of human eye
As the coordinate under head imaging space coordinate system, further according to known tracing of human eye system intrinsic parameter and characteristic point in display space
Coordinate under coordinate system, further analysis determine the outer parameter of tracing of human eye system, make display space coordinate system and human eye with
Track imaging space coordinate system is unified, and then directly can scheme cycle and row's figure according to the row of eye space Coordinate Adjusting 3D rendering
Offset, correction is efficient, reduces manual synchronizing cost.
Note that it above are only presently preferred embodiments of the present invention and institute's application technology principle.Those skilled in the art can manage
Solution, the invention is not restricted to specific embodiments described here, can carry out various apparent changes for a person skilled in the art
Change, readjust and substitute without departing from protection scope of the present invention.Therefore, although by above example to the present invention
It is described in further detail, but the present invention is not limited only to above example, is not departing from the situation of present inventive concept
Under, other more equivalent embodiments can also be included, and the scope of the present invention is determined by scope of the appended claims.
Claims (6)
1. a kind of outer parameter correction gauge of tracing of human eye system, which is characterized in that including：
Chessboard panel, for establishing the mapping relations between world coordinate system and tracing of human eye camera imaging plane coordinate system,
Wherein, the coordinate of each point is known in world coordinate system in chessboard panel；
Slide is arranged at the center origin of display screen and perpendicular to display screen plane, for placing chessboard panel, chessboard
Panel can be slid on slide at different position；
Traction electric machine is arranged on slide, when chessboard panel is needed to carry out parameter correction at the different position of slide, is used for
Traction chessboard panel moves on the different position of slide；
Tracing of human eye camera is arranged on display screen at any position, for shooting the pattern of chessboard panel；
Computer for receiving the pattern of the chessboard panel captured by tracing of human eye camera and carrying out graphical analysis, obtains chess
Each point is additionally operable to according in tracing of human eye system in the corresponding coordinate of tracing of human eye camera imaging plane coordinate system in disk panel
Coordinate in each point world coordinate system in parameter, chessboard panel, each point is sat in tracing of human eye camera imaging plane in chessboard panel
The corresponding coordinate of mark system, which calculates, determines the outer parameter of tracing of human eye system.
2. the outer parameter correction gauge of tracing of human eye system according to claim 1, which is characterized in that the world coordinate system
Using display screen center by origin, screen long axis be y-axis, screen short axle is x-axis, screen center's normal is that z-axis is established
Coordinate system；The tracing of human eye camera imaging plane coordinate system is to be shot by origin, camera of camera planar central point
Plane transverse axis by x-axis, the camera camera plane longitudinal axis is y-axis, camera plane optical axis is coordinate system that z-axis is established.
3. the outer parameter correction gauge of tracing of human eye system according to claim 1, which is characterized in that the tracing of human eye is taken the photograph
As parameter includes outside head：Tracing of human eye camera is in the rotation parameter and displacement parameter of three axis of world coordinate system.
4. a kind of outer parameter correcting method of tracing of human eye system, which is characterized in that including：
Chessboard panel is obtained at slide first position, the gridiron pattern plate pattern that tracing of human eye camera takes；
The characteristic point in the gridiron pattern plate pattern with outer number of parameters respective numbers to be corrected is extracted in tracing of human eye camera
Corresponding coordinate in imaging plane coordinate system；
It is taken the photograph according to coordinate of each characteristic point in chessboard panel in world coordinate system with each characteristic point in chessboard panel in tracing of human eye
As the mapping relations of corresponding coordinate in head imaging plane coordinate system determine parameter outside tracing of human eye system.
5. the outer parameter correcting method of tracing of human eye system according to claim 4, which is characterized in that in the chessboard panel
Each characteristic point in coordinate and the chessboard panel of world coordinate system each characteristic point in tracing of human eye camera imaging plane coordinate system
In the mapping relations of corresponding coordinate be：
WU=AsRtx, wherein wU are each characteristic point of chessboard panel coordinate position matrix in tracing of human eye camera imaging plane,
As is tracing of human eye camera internal reference number, and Rt is the outer parameter matrix of tracing of human eye camera, and x is alive for each characteristic point of chessboard panel
Coordinates matrix under boundary's coordinate system.
6. the outer parameter correcting method of tracing of human eye system according to claim 4, which is characterized in that the method is also wrapped
It includes：
Tracing of human eye camera is obtained to shoot to obtain at least one position in addition to first position in slide in chessboard panel
At least one gridiron pattern plate pattern；
According to each characteristic point with outer number of parameters respective numbers to be corrected at least one gridiron pattern plate pattern in world coordinates
The coordinate of system and the mapping relations of each characteristic point corresponding coordinate in tracing of human eye camera imaging plane coordinate system are true
The fixed outer parameter of at least one tracing of human eye system；
Parameter outside final tracing of human eye system is determined according to parameter outside at least one tracing of human eye system.
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| CN201711417272.1A CN108108021A (en) | 2017-12-25 | 2017-12-25 | The outer parameter correction gauge of tracing of human eye system and bearing calibration |
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| CN109284407A (en) * | 2018-08-21 | 2019-01-29 | 芜湖启迪睿视信息技术有限公司 | Device for training automatic labeling data set of intelligent sales counter |
| CN112346258A (en) * | 2020-11-06 | 2021-02-09 | 上海易维视科技有限公司 | Grating visual area calibration method and system based on square wave fitting |
| CN112509058A (en) * | 2020-11-30 | 2021-03-16 | 北京百度网讯科技有限公司 | Method and device for calculating external parameters, electronic equipment and storage medium |
| CN112929619A (en) * | 2021-02-03 | 2021-06-08 | 广州工程技术职业学院 | Tracking display structure of facial feature points in animation character |
| CN113573040A (en) * | 2021-07-07 | 2021-10-29 | 深圳市创鑫未来科技有限公司 | Stereoscopic pattern, device and method for automatically calibrating human eye tracking naked eye 3D display |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN109284407A (en) * | 2018-08-21 | 2019-01-29 | 芜湖启迪睿视信息技术有限公司 | Device for training automatic labeling data set of intelligent sales counter |
| CN112346258A (en) * | 2020-11-06 | 2021-02-09 | 上海易维视科技有限公司 | Grating visual area calibration method and system based on square wave fitting |
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| CN113573040A (en) * | 2021-07-07 | 2021-10-29 | 深圳市创鑫未来科技有限公司 | Stereoscopic pattern, device and method for automatically calibrating human eye tracking naked eye 3D display |
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| CN114302130A (en) * | 2021-12-06 | 2022-04-08 | 嘉兴智瞳科技有限公司 | Intelligent microsurgery imaging device control method and system |
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