CN109544640A - A kind of sight line tracking system Kappa angle scaling method and caliberating device - Google Patents
A kind of sight line tracking system Kappa angle scaling method and caliberating device Download PDFInfo
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- 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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Abstract
The present invention provides a kind of sight line tracking system Kappa angle scaling method and caliberating device, can determine that eyeball is in the boresight direction of any position in real time.The described method includes: during the calibration process, it establishes eyeball coordinate system and determines boresight direction of the eyeball at calibration position, according to the boresight direction of the eyeball coordinate system of foundation and the eyeball of determination at calibration position, demarcate the value at the angle Kappa, wherein, eyeball coordinate system is three-dimensional coordinate, angle of the angle Kappa between optical axis and the optical axis；In sight estimation procedure, according to the value at the angle Kappa of calibration, determine transformation matrix of the eyeball at calibration position between the eyeball coordinate system of any position, according to determining transformation matrix, determine that eyeball is in the boresight direction of any position in real time using boresight direction of the eyeball at calibration position.The present invention relates to field of image processings.
Description
Technical field
The present invention relates to field of image processings, particularly relate to a kind of sight line tracking system Kappa angle scaling method and calibration
Device.
Background technique
The implementation method of Visual Tracking System experienced a very very long process.From the direct observational method of early stage, after arriving
To develop into electroculogram method (EOG), contact lense method, pupil corneal reflection method etc..In general, gaze tracking system can divide
For contact and contactless two major classes, since contact tracking system needs to stick some auxiliary induction devices in experimenter's eye
(such as electrode, eye post-chip etc.), this produces very big interference to experimenter, brings great inconvenience to user.While with
The gradually development of video camera and computer technology, traditional contact method is also thus gradually by contactless optical imagery
Technology is replaced.
2D eye tracking system based on pupil cornea vector (Pupil-Corneal reflection, PCR) reflection technology
It unites harsher to the position on head, the error of eye tracking is anxious also with the movement (for example, translation, rotation and pitching) on head
Increase severely and add, this is also the main reason for hindering this technology to be widely applied.
Summary of the invention
The technical problem to be solved in the present invention is to provide a kind of sight line tracking system Kappa angle scaling method and calibration dresses
It sets, to solve due to head movement present in the prior art, the problem for causing eye tracking error big.
In order to solve the above technical problems, the embodiment of the present invention provides a kind of angle sight line tracking system Kappa scaling method, packet
It includes:
During the calibration process, it establishes eyeball coordinate system and determines boresight direction of the eyeball at calibration position, according to foundation
Eyeball coordinate system and determination eyeball calibration position at boresight direction, demarcate the angle Kappa value, wherein eyeball coordinate
System is three-dimensional coordinate, angle of the angle Kappa between optical axis and the optical axis；
In sight estimation procedure, according to the value at the angle Kappa of calibration, determine eyeball at calibration position and any position
Locate the transformation matrix between eyeball coordinate system, according to determining transformation matrix, utilizes boresight direction of the eyeball at calibration position
Determine that eyeball is in the boresight direction of any position in real time.
Further, described to establish eyeball coordinate system and determine that boresight direction of the eyeball at calibration position includes:
During the calibration process, with corneal curvature center C1For origin, using eyeball optical axis as first direction axis, with first party
Vertical to axis and orthogonal any two straight lines are respectively second direction axis and third direction axis, establish eyeball coordinate system,
Wherein, C1To demarcate position；
Calibration point Pc on the screen, by corneal curvature center C1Determine eyeball at calibration position with calibration point coordinate Pc
Boresight direction.
Further, the boresight direction according to the eyeball coordinate system of foundation and the eyeball of determination at calibration position,
Calibration the angle Kappa value include:
Pass through formulaDemarcate the value at the angle Kappa, wherein E1For in pupil
The heart.
Further, the value at the angle Kappa according to calibration, determine eyeball calibration position at and any position eye
Transformation matrix between spherical coordinate system includes:
If eyeball is in calibration position C1Place, eyeball optical axis direction vector are O0=[x0 y0 z0]T, boresight direction vector is V0
=[x '0 y′0 z′0], corneal curvature center is
If eyeball C at an arbitrary position2Place, pupil center E2, eyeball optical axis direction vector is O1=[x1 y1 z1]T, depending on
Axis direction vector is V1=[x '1 y′1 z′1], corneal curvature center is
Under system camera coordinate system, when eyeball from calibration position C1Around second direction axis rotation alpha angle, around third direction axis
Axis rotation β angle simultaneously moves to any position C2, eyeball coordinate origin translational movement are as follows: When, according to the first formula, determine C1、C2Locate the transformation square between eyeball coordinate system
Battle array M, wherein the first formula indicates are as follows: MO0=O1；
Second formula is obtained by the first formula:
First equation group is obtained by the second formula:
Second equation group is obtained by the second formula:
According to the value at the angle Kappa of the first equation group, second equation group and calibration, the rotation of eyeball coordinate system is determined in real time
Angle α and β；
According to the rotation angle α and β of determining eyeball coordinate system, in conjunction with eyeball coordinate origin translational movement:Determine transformation matrix M.
Further, described according to determining transformation matrix, it is true in real time using boresight direction of the eyeball at calibration position
Determine eyeball and be in the boresight direction of any position include:
According in eyeball coordinate system, there is determining positional relationship, it is determined that any position between eyeball optical axis and the optical axis
C2Boresight direction vector V1Are as follows: V1=MV0, wherein s1Indicate the intersection point of the gained optical axis and screen.
The embodiment of the present invention also provides a kind of angle sight line tracking system Kappa caliberating device, comprising:
Demarcating module, for during the calibration process, establishing eyeball coordinate system and determining the optical axis of the eyeball at calibration position
The value at the angle Kappa is demarcated according to the boresight direction of the eyeball coordinate system of foundation and the eyeball of determination at calibration position in direction,
Wherein, eyeball coordinate system is three-dimensional coordinate, angle of the angle Kappa between optical axis and the optical axis；
Determining module, for according to the value at the angle Kappa of calibration, determining eyeball in calibration position in sight estimation procedure
The transformation matrix between place and any position eyeball coordinate system is set, according to determining transformation matrix, using eyeball in calibration position
The boresight direction for setting place determines that eyeball is in the boresight direction of any position in real time.
Further, the demarcating module includes: to establish unit and the first determination unit；Wherein,
It is described to establish unit, it is used for during the calibration process, with corneal curvature center C1For origin, with eyeball optical axis for first
Axis of orientation is respectively second direction axis and third direction with vertical with first direction axis and orthogonal any two straight lines
Axis establishes eyeball coordinate system, wherein C1To demarcate position；
First determination unit, for calibration point Pc on the screen, by corneal curvature center C1With calibration point coordinate Pc
Determine boresight direction of the eyeball at calibration position.
Further, the demarcating module further include: calibration unit；
The calibration unit, for passing through formulaThe value at the angle Kappa is demarcated,
Wherein, E1For pupil center.
Further, the determining module includes: the second determination unit；
Second determination unit, for setting eyeball in calibration position C1Place, eyeball optical axis direction vector are O0=[x0 y0
z0]T, boresight direction vector is V0=[x '0 y′0 z′0], corneal curvature center is
If eyeball C at an arbitrary position2Place, pupil center E2, eyeball optical axis direction vector is O1=[x1 y1 z1]T, depending on
Axis direction vector is V1=[x '1 y′1 z′1], corneal curvature center is
Under system camera coordinate system, when eyeball from calibration position C1Around second direction axis rotation alpha angle, around third direction axis
Axis rotation β angle simultaneously moves to any position C2, eyeball coordinate origin translational movement are as follows: When, according to the first formula, determine C1、C2Locate the transformation square between eyeball coordinate system
Battle array M, wherein the first formula indicates are as follows: MO0=O1；
Second formula is obtained by the first formula:
First equation group is obtained by the second formula:
Second equation group is obtained by the second formula:
According to the value at the angle Kappa of the first equation group, second equation group and calibration, the rotation of eyeball coordinate system is determined in real time
Angle α and β；
According to the rotation angle α and β of determining eyeball coordinate system, in conjunction with eyeball coordinate origin translational movement:Determine transformation matrix M.
Further, the determining module further include: third determination unit；
Second determination unit, for according in eyeball coordinate system, there is determining position between eyeball optical axis and the optical axis
Set relationship, it is determined that any position C2Boresight direction vector V1Are as follows: V1=MV0, the intersection point of the gained optical axis and screen is s1。
The advantageous effects of the above technical solutions of the present invention are as follows:
In above scheme, during the calibration process, establishes three-dimensional eyeball coordinate system and determine view of the eyeball at calibration position
Axis direction demarcates the angle Kappa according to the boresight direction of the three-dimensional eyeball coordinate system of foundation and the eyeball of determination at calibration position
Value；In sight estimation procedure, according to the value at the angle Kappa of calibration, determine eyeball at calibration position and any position
Transformation matrix between three-dimensional eyeball coordinate system utilizes optical axis side of the eyeball at calibration position according to determining transformation matrix
To the real-time boresight direction for determining eyeball and being in any position；In this way, passing through the three-dimensional sight based on three-dimensional eyeball coordinate system
Method for tracing is able to solve due to head movement, the big problem of eye tracking error.
Detailed description of the invention
Fig. 1 is the flow diagram of the angle sight line tracking system Kappa provided in an embodiment of the present invention scaling method；
Fig. 2 is the angle Kappa provided in an embodiment of the present invention schematic diagram；
Fig. 3 is the structural schematic diagram of the angle sight line tracking system Kappa provided in an embodiment of the present invention caliberating device.
Specific embodiment
To keep the technical problem to be solved in the present invention, technical solution and advantage clearer, below in conjunction with attached drawing and tool
Body embodiment is described in detail.
The present invention is directed to existing due to head movement, the problem for causing eye tracking error big, provides a kind of sight and chases after
Track system Kappa angle scaling method and caliberating device.
Embodiment one
As shown in Figure 1, the angle sight line tracking system Kappa provided in an embodiment of the present invention scaling method, comprising:
S101 establishes eyeball coordinate system and determines boresight direction of the eyeball at calibration position during the calibration process, according to
The boresight direction of the eyeball coordinate system of foundation and the eyeball of determination at calibration position, demarcates the value at the angle Kappa, wherein eyeball
Coordinate system is three-dimensional coordinate, angle of the angle Kappa between optical axis and the optical axis；
S102, according to the value at the angle Kappa of calibration, determines eyeball at calibration position and appoints in sight estimation procedure
Transformation matrix at meaning position between eyeball coordinate system utilizes view of the eyeball at calibration position according to determining transformation matrix
Axis direction determines that eyeball is in the boresight direction of any position in real time.
The angle sight line tracking system Kappa scaling method described in the embodiment of the present invention establishes three-dimensional eye during the calibration process
Spherical coordinate system simultaneously determines boresight direction of the eyeball at calibration position, according to the three-dimensional eyeball coordinate system of foundation and the eyeball of determination
Boresight direction at calibration position, demarcates the value at the angle Kappa；In sight estimation procedure, according to the angle Kappa of calibration
Value determines transformation matrix of the eyeball at calibration position between the three-dimensional eyeball coordinate system of any position, according to determining change
Matrix is changed, determines that eyeball is in the boresight direction of any position in real time using boresight direction of the eyeball at calibration position；This
Sample is able to solve by the three-dimensional Eye-controlling focus method based on three-dimensional eyeball coordinate system due to head movement, eye tracking error
Big problem.
In the specific embodiment of the angle aforementioned sight line tracking system Kappa scaling method, further, the foundation eye
Spherical coordinate system simultaneously determines that boresight direction of the eyeball at calibration position includes:
During the calibration process, with corneal curvature center C1For origin, using eyeball optical axis as first direction axis, with first party
Vertical to axis and orthogonal any two straight lines are respectively second direction axis and third direction axis, establish eyeball coordinate system,
Wherein, C1To demarcate position；
Calibration point Pc on the screen, by corneal curvature center C1Determine eyeball at calibration position with calibration point coordinate Pc
Boresight direction.
In the present embodiment, as shown in Fig. 2, in user's calibration process, with corneal curvature center C1For origin, with eyeball light
Axis is first direction axis (for example, Z axis), with vertical with first direction axis (Z axis) and orthogonal any two straight lines difference
For second direction axis (for example, X-axis) and third direction axis (for example, Y-axis), eyeball coordinate system, the E of Fig. 2 are established1For in pupil
The heart.Calibration point Pc on the screen, by corneal curvature center C1The optical axis of the eyeball at calibration position is determined with calibration point coordinate Pc
Direction, the optical axis are connection cornea center of curvature C1With the line of calibration point coordinate Pc.
In the present embodiment, everyone angle Kappa be it is fixed, the optical axis of eyeball be connection cornea center of curvature C1With pupil
Hole center E1Line.
In the specific embodiment of the angle aforementioned sight line tracking system Kappa scaling method, further, the basis is built
Boresight direction of the eyeball of vertical eyeball coordinate system and determination at calibration position, the value at the calibration angle Kappa include:
Pass through formulaDemarcate the value at the angle Kappa, wherein E1For in pupil
The heart.
It is further, described according to mark in the specific embodiment of the angle aforementioned sight line tracking system Kappa scaling method
The value at the fixed angle Kappa determines that transformation matrix of the eyeball at calibration position between the eyeball coordinate system of any position includes:
If eyeball is in calibration position C1Place, eyeball optical axis direction vector are O0=[x0 y0 z0]T, boresight direction vector is V0
=[x '0 y′0 z′0], corneal curvature center is
If eyeball C at an arbitrary position2Place, pupil center E2, eyeball optical axis direction vector is O1=[x1 y1 z1]T, depending on
Axis direction vector is V1=[x '1 y′1 z′1], corneal curvature center is
Under system camera coordinate system, when eyeball from calibration position C1Around second direction axis rotation alpha angle, around third direction axis
Axis rotation β angle simultaneously moves to any position C2, eyeball coordinate origin translational movement are as follows: When, according to the first formula, determine C1、C2Locate the transformation square between eyeball coordinate system
Battle array M, wherein the first formula indicates are as follows: MO0=O1；
Second formula is obtained by the first formula:
First equation group is obtained by the second formula:
Second equation group is obtained by the second formula:
According to the value at the angle Kappa of the first equation group, second equation group and calibration, the rotation of eyeball coordinate system is determined in real time
Angle α and β；
According to the rotation angle α and β of determining eyeball coordinate system, in conjunction with eyeball coordinate origin translational movement:Determine transformation matrix M.
In the present embodiment, the translation of eyeball coordinate system is only considered and around second direction axis (X-axis), third direction axis (Y-axis)
The calculating at the angle Kappa under rotation situation:
If eyeball is in calibration position C1Place, eyeball optical axis direction vector are O0=[x0 y0 z0]T, boresight direction vector is V0
=[x '0 y′0 z′0], corneal curvature center is
If eyeball C at an arbitrary position2When, pupil center E2, eyeball optical axis direction vector is O1=[x1 y1 z1]T, depending on
Axis direction vector is V1=[x '1 y′1 z′1], corneal curvature center is
Under system camera coordinate system, eyeball from calibration position C1Around second direction axis, third direction axis rotation and translation
To any position C2When, eyeball coordinate origin translational movement are as follows: Around x
Axis rotation alpha angle, around y-axis rotation β angle, around z-axis without rotation.
Two position C1、C2The transformation matrix M located between eyeball coordinate system can be by formula: MO0=O1It acquires；
By formula: MO0=O1Expansion is written as:
First equation group as available from the above equation:
Second equation group as available from the above equation:
In sight estimation procedure, eyeball after the reconstructive eyeball optical axis of space any position, according to the first equation group and
Second equation group calculates the rotation angle α and β of eyeball coordinate system in real time, since the first equation group and second equation group are available
Two groups of α and β solution, according to the value at the user angle Kappa obtained by calibrating, can determine unique angle α and the angle β, sit in conjunction with eyeball
Mark system origin translation amount: Determine transformation matrix M.
In the specific embodiment of the angle aforementioned sight line tracking system Kappa scaling method, further, the basis is true
Fixed transformation matrix determines that eyeball is in the optical axis side of any position using boresight direction of the eyeball at calibration position in real time
To including:
According in eyeball coordinate system, there is determining positional relationship, it is determined that any position between eyeball optical axis and the optical axis
C2Boresight direction vector V1Are as follows: V1=MV0。
Due to there is determining positional relationship, therefore eyeball is being marked between eyeball optical axis and the optical axis in eyeball coordinate system
C is set in positioning1The boresight direction vector V at place0C at an arbitrary position2The boresight direction vector V at place1Between transition matrix be also M,
Then there is any position C2Boresight direction vector V1Are as follows: V1=MV0, in this manner it is possible to by eyeball in the optical axis side for demarcating position
To the boresight direction for calculating eyeball and being in any position, the intersection point of the gained optical axis and screen is s1, as shown in Figure 2.
Embodiment two
The present invention also provides a kind of specific embodiments of the angle sight line tracking system Kappa caliberating device, due to the present invention
The specific implementation of the sight line tracking system Kappa angle caliberating device and the angle aforementioned sight line tracking system Kappa scaling method of offer
Mode is corresponding, and the angle sight line tracking system Kappa caliberating device can be by executing in above method specific embodiment
Process step achieves the object of the present invention, therefore in the scaling method specific embodiment of the angle above-mentioned sight line tracking system Kappa
Explanation, be also applied for the specific embodiment of the angle sight line tracking system Kappa provided by the invention caliberating device, this
Inventing will not be described in great detail in specific embodiment below.
As shown in figure 3, the embodiment of the present invention also provides a kind of angle sight line tracking system Kappa caliberating device, comprising:
Demarcating module 11, for during the calibration process, establishing eyeball coordinate system and determining view of the eyeball at calibration position
Axis direction demarcates the angle Kappa according to the boresight direction of the eyeball coordinate system of foundation and the eyeball of determination at calibration position
Value, wherein eyeball coordinate system is three-dimensional coordinate, angle of the angle Kappa between optical axis and the optical axis；
Determining module 12, for according to the value at the angle Kappa of calibration, determining that eyeball is being demarcated in sight estimation procedure
Transformation matrix between the eyeball coordinate system of at position and any position is being demarcated according to determining transformation matrix using eyeball
Boresight direction at position determines that eyeball is in the boresight direction of any position in real time.
The angle sight line tracking system Kappa caliberating device described in the embodiment of the present invention establishes three-dimensional eye during the calibration process
Spherical coordinate system simultaneously determines boresight direction of the eyeball at calibration position, according to the three-dimensional eyeball coordinate system of foundation and the eyeball of determination
Boresight direction at calibration position, demarcates the value at the angle Kappa；In sight estimation procedure, according to the angle Kappa of calibration
Value determines transformation matrix of the eyeball at calibration position between the three-dimensional eyeball coordinate system of any position, according to determining change
Matrix is changed, determines that eyeball is in the boresight direction of any position in real time using boresight direction of the eyeball at calibration position；This
Sample is able to solve by the three-dimensional Eye-controlling focus method based on three-dimensional eyeball coordinate system due to head movement, eye tracking error
Big problem.
In the specific embodiment of the angle aforementioned sight line tracking system Kappa caliberating device, further, the calibration mold
Block includes: to establish unit and the first determination unit；Wherein,
It is described to establish unit, it is used for during the calibration process, with corneal curvature center C1For origin, with eyeball optical axis for first
Axis of orientation is respectively second direction axis and third direction with vertical with first direction axis and orthogonal any two straight lines
Axis establishes eyeball coordinate system, wherein C1To demarcate position；
First determination unit, for calibration point Pc on the screen, by corneal curvature center C1With calibration point coordinate Pc
Determine boresight direction of the eyeball at calibration position.
In the specific embodiment of the angle aforementioned sight line tracking system Kappa caliberating device, further, the calibration mold
Block further include: calibration unit；
The calibration unit, for passing through formulaThe value at the angle Kappa is demarcated,
Wherein, E1For pupil center.
In the specific embodiment of the angle aforementioned sight line tracking system Kappa caliberating device, further, the determining mould
Block includes: the second determination unit；
Second determination unit, for setting eyeball in calibration position C1Place, eyeball optical axis direction vector are O0=[x0 y0
z0]T, boresight direction vector is V0=[x '0 y′0 z′0], corneal curvature center is
If eyeball C at an arbitrary position2Place, pupil center E2, eyeball optical axis direction vector is O1=[x1 y1 z1]T, depending on
Axis direction vector is V1=[x '1 y′1 z′1], corneal curvature center is
Under system camera coordinate system, when eyeball from calibration position C1Around second direction axis rotation alpha angle, around third direction axis
Axis rotation β angle simultaneously moves to any position C2, eyeball coordinate origin translational movement are as follows: When, according to the first formula, determine C1、C2Locate the transformation square between eyeball coordinate system
Battle array M, wherein the first formula indicates are as follows: MO0=O1；
Second formula is obtained by the first formula:
First equation group is obtained by the second formula:
Second equation group is obtained by the second formula:
According to the value at the angle Kappa of the first equation group, second equation group and calibration, the rotation of eyeball coordinate system is determined in real time
Angle α and β；
According to the rotation angle α and β of determining eyeball coordinate system, in conjunction with eyeball coordinate origin translational movement:Determine transformation matrix M.
In the specific embodiment of the angle aforementioned sight line tracking system Kappa caliberating device, further, the determining mould
Block further include: third determination unit；
Second determination unit, for according in eyeball coordinate system, there is determining position between eyeball optical axis and the optical axis
Set relationship, it is determined that any position C2Boresight direction vector V1Are as follows: V1=MV0, the intersection point of the gained optical axis and screen is s1。
It should be noted that, in this document, relational terms such as first and second and the like are used merely to a reality
Body or operation are distinguished with another entity or operation, are deposited without necessarily requiring or implying between these entities or operation
In any actual relationship or order or sequence.
The above is a preferred embodiment of the present invention, it is noted that for those skilled in the art
For, without departing from the principles of the present invention, several improvements and modifications can also be made, these improvements and modifications
It should be regarded as protection scope of the present invention.
Claims (10)
1. a kind of angle sight line tracking system Kappa scaling method characterized by comprising
During the calibration process, it establishes eyeball coordinate system and determines boresight direction of the eyeball at calibration position, according to the eye of foundation
The boresight direction of spherical coordinate system and the eyeball of determination at calibration position, demarcates the value at the angle Kappa, wherein eyeball coordinate system is
Three-dimensional coordinate, angle of the angle Kappa between optical axis and the optical axis；
In sight estimation procedure, according to the value at the angle Kappa of calibration, determine eyeball at calibration position and the eye of any position
Transformation matrix between spherical coordinate system, it is real-time using boresight direction of the eyeball at calibration position according to determining transformation matrix
Determine that eyeball is in the boresight direction of any position.
2. the angle sight line tracking system Kappa according to claim 1 scaling method, which is characterized in that described to establish eyeball
Coordinate system simultaneously determines that boresight direction of the eyeball at calibration position includes:
During the calibration process, with corneal curvature center C1For origin, using eyeball optical axis as first direction axis, with first direction axis
Vertical and orthogonal any two straight lines are respectively second direction axis and third direction axis, establish eyeball coordinate system, wherein
C1To demarcate position；
Calibration point Pc on the screen, by corneal curvature center C1The optical axis of the eyeball at calibration position is determined with calibration point coordinate Pc
Direction.
3. the angle sight line tracking system Kappa according to claim 2 scaling method, which is characterized in that described according to foundation
Eyeball coordinate system and determination eyeball calibration position at boresight direction, calibration the angle Kappa value include:
Pass through formulaDemarcate the value at the angle Kappa, wherein E1For pupil center.
4. the angle sight line tracking system Kappa according to claim 3 scaling method, which is characterized in that described according to calibration
The angle Kappa value, determine that eyeball transformation matrix between the eyeball coordinate system of any position at calibration position includes:
If eyeball is in calibration position C1Place, eyeball optical axis direction vector are O0=[x0 y0 z0]T, boresight direction vector is V0=
[x′0 y′0 z′0], corneal curvature center is
If eyeball C at an arbitrary position2Place, eyeball optical axis direction vector are O1=[x1 y1 z1]T, boresight direction vector is V1=
[x′1 y′1 z′1], corneal curvature center is
Under system camera coordinate system, when eyeball from calibration position C1It is revolved around second direction axis rotation alpha angle, around third direction axis axis
Turn the angle β and moves to any position C2, eyeball coordinate origin translational movement are as follows:
When, according to the first formula, determine C1、C2Locate the transformation matrix M between eyeball coordinate system, wherein the first formula indicates are as follows: MO0=
O1；
Second formula is obtained by the first formula:
First equation group is obtained by the second formula:
Second equation group is obtained by the second formula:
According to the value at the angle Kappa of the first equation group, second equation group and calibration, the rotation angle α of eyeball coordinate system is determined in real time
And β；
According to the rotation angle α and β of determining eyeball coordinate system, in conjunction with eyeball coordinate origin translational movement:Determine transformation matrix M.
5. the angle sight line tracking system Kappa according to claim 4 scaling method, which is characterized in that described according to determination
Transformation matrix, determine that eyeball is in the boresight direction of any position in real time using boresight direction of the eyeball at calibration position
Include:
According in eyeball coordinate system, there is determining positional relationship, it is determined that any position C between eyeball optical axis and the optical axis2View
Axis direction vector V1Are as follows: V1=MV0, the intersection point of the gained optical axis and screen is s1。
6. a kind of angle sight line tracking system Kappa caliberating device characterized by comprising
Demarcating module, for during the calibration process, establishing eyeball coordinate system and determining boresight direction of the eyeball at calibration position,
According to the boresight direction of the eyeball coordinate system of foundation and the eyeball of determination at calibration position, the value at the angle Kappa is demarcated, wherein
Eyeball coordinate system is three-dimensional coordinate, angle of the angle Kappa between optical axis and the optical axis；
Determining module, for according to the value at the angle Kappa of calibration, determining eyeball at calibration position in sight estimation procedure
Transformation matrix between the eyeball coordinate system of any position, according to determining transformation matrix, using eyeball at calibration position
Boresight direction determine that eyeball is in the boresight direction of any position in real time.
7. the angle sight line tracking system Kappa according to claim 6 caliberating device, which is characterized in that the demarcating module
It include: to establish unit and the first determination unit；Wherein,
It is described to establish unit, it is used for during the calibration process, with corneal curvature center C1For origin, using eyeball optical axis as first direction
Axis is respectively second direction axis and third direction axis with vertical with first direction axis and orthogonal any two straight lines, builds
Vertical eyeball coordinate system, wherein C1To demarcate position；
First determination unit, for calibration point Pc on the screen, by corneal curvature center C1Eye is determined with calibration point coordinate Pc
Boresight direction of the ball at calibration position.
8. the angle sight line tracking system Kappa according to claim 7 caliberating device, which is characterized in that the demarcating module
Further include: calibration unit；
The calibration unit, for passing through formulaThe value at the angle Kappa is demarcated,
In, E1For pupil center.
9. the angle sight line tracking system Kappa according to claim 8 caliberating device, which is characterized in that the determining module
It include: the second determination unit；
Second determination unit, for setting eyeball in calibration position C1Place, eyeball optical axis direction vector are O0=[x0 y0 z0]T,
Boresight direction vector is V0=[x '0 y′0 z′0], corneal curvature center is
If eyeball C at an arbitrary position2Place, pupil center E2, eyeball optical axis direction vector is O1=[x1 y1 z1]T, boresight direction
Vector is V1=[x '1 y′1 z′1], corneal curvature center is
Under system camera coordinate system, when eyeball from calibration position C1It is revolved around second direction axis rotation alpha angle, around third direction axis axis
Turn the angle β and moves to any position C2, eyeball coordinate origin translational movement are as follows:
When, according to the first formula, determine C1、C2Locate the transformation matrix M between eyeball coordinate system, wherein the first formula indicates are as follows: MO0=
O1；
Second formula is obtained by the first formula:
First equation group is obtained by the second formula:
Second equation group is obtained by the second formula:
According to the value at the angle Kappa of the first equation group, second equation group and calibration, the rotation angle α of eyeball coordinate system is determined in real time
And β；
According to the rotation angle α and β of determining eyeball coordinate system, in conjunction with eyeball coordinate origin translational movement:Determine transformation matrix M.
10. the angle sight line tracking system Kappa according to claim 9 caliberating device, which is characterized in that the determining module
Further include: third determination unit；
Second determination unit, between eyeball optical axis and the optical axis there is determining position to close according in eyeball coordinate system
System, it is determined that any position C2Boresight direction vector V1Are as follows: V1=MV0, the intersection point of the gained optical axis and screen is s1。
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