TWI261785B - Eye ball tracking method - Google Patents
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- 210000005252 bulbus oculi Anatomy 0.000 title claims abstract description 34
- 238000000034 method Methods 0.000 title claims abstract description 20
- 238000006243 chemical reaction Methods 0.000 claims abstract description 16
- 238000004364 calculation method Methods 0.000 claims abstract description 14
- 210000001508 eye Anatomy 0.000 claims description 32
- 230000001186 cumulative effect Effects 0.000 claims description 11
- 239000013598 vector Substances 0.000 claims description 3
- 230000035945 sensitivity Effects 0.000 abstract description 6
- 238000012805 post-processing Methods 0.000 abstract 1
- 238000010586 diagram Methods 0.000 description 11
- 230000004424 eye movement Effects 0.000 description 7
- 230000001788 irregular Effects 0.000 description 5
- 210000001747 pupil Anatomy 0.000 description 3
- 206010044565 Tremor Diseases 0.000 description 2
- 238000004458 analytical method Methods 0.000 description 1
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1261785 玖、發明說明: 【發明所屬之技術領域】 本發明係有關一種眼球執跡追蹤方法,特別是指一種 利用四個象限之中點座標對應之方式,以簡單之換算公式 5 來達到快速換算,其兼具算式簡單且換算速度快、可避免 眼球自然振動之誤差,與可微調系統之靈敏度之優點及功 效0 【先前技術】1261785 玖, invention description: [Technical field to which the invention pertains] The present invention relates to an eye tracking tracking method, and particularly to a method for using a four-quadrant midpoint coordinate corresponding to a simple conversion formula 5 to achieve fast conversion It has the advantages of simple calculation and fast conversion speed, avoiding the error of natural vibration of the eyeball, and the advantages and functions of the sensitivity of the system that can be fine-tuned. [Prior Art]
傳統式之眼球軌跡追蹤方法,係包括下列步驟: 10 —、五點校正步驟:The traditional eyeball trajectory tracking method includes the following steps: 10 -, five-point calibration steps:
首先,使用者之眼睛注視一目標畫面 9 1,可能是頭 配式小型螢幕(如第一圖及二圖所示)、電腦螢幕、大型投 影晝面(如第三圖所示)等等,並由一眼部影像擷取裝置9 2 由低於眼部之位置呈一傾斜角度0來取得一眼部影像 9 3 ( 15 如第四圖所示)。舉例而言,如第五 A至五 E圖及第六 A 至六 E圖所示,使用者分別注視在一目標晝面 9 1上之上 參考點 C 0、右參考點 C 1、中參考點 C 2、左參考點 C 3及 下參考點 C 4其座標分別為(X 〇,Y 〇)、( X丨,Y丨)、(X 2,Y 2)、 (X3, Y3)及(X4, Y4),並經由一眼部影像擷取裝置 92擷取 2 0 此眼部影像 9 3而分別獲得一注視上方點(Ρ。,Q。)、注視右 方點(Ρ ,,Q ,)、注視中央點(Ρ 2,Q 2)、注視左方點(Ρ 3,Q 3)及 注視下方點(P4,Q4)。 二、計算第一、第二斜軸角度與橫軸值及縱軸值久 6 1261785 請參閱第七及八圖,假設瞳孔之中心點座標為(m,n)( 圖中未示),且已擷取座標為(pm,pn),貝|J Pm =m-P2 Pn 5 若凡一 0,貝ijL 二 PX ln =Pn+PmXt^^ 若凡,<〇,貝1J lm =PnJC0^2 10 ln =pn -Pmxtan02First, the user's eyes look at a target screen 9 1, which may be a small screen (as shown in the first and second figures), a computer screen, a large projection screen (as shown in the third figure), etc. And an eye image capturing device 9 2 obtains an eye image 9 3 (as shown in the fourth figure) by an oblique angle 0 from the position below the eye. For example, as shown in FIGS. 5A to 5E and 6A to 6E, the user respectively looks at the reference point C 0 , the right reference point C 1 , and the middle reference on a target pupil plane 9 1 . Point C 2, left reference point C 3 and lower reference point C 4 have coordinates (X 〇, Y 〇), (X丨, Y丨), (X 2, Y 2), (X3, Y3) and ( X4, Y4), and obtains an eye point (Ρ., Q.) and a right point (Ρ, Q, respectively) by taking an eye image 9 through an eye image capturing device 92. ), look at the central point (Ρ 2, Q 2), look at the left point (Ρ 3, Q 3), and look at the lower point (P4, Q4). Second, calculate the first and second oblique axis angle and the horizontal axis value and the vertical axis value for a long time 6 1261785 Please refer to the seventh and eighth figures, assuming that the center point coordinates of the pupil are (m, n) (not shown), and The coordinates have been taken as (pm, pn), Bay|J Pm =m-P2 Pn 5 If Van 0, Bay ijL 2 PX ln =Pn+PmXt^^ Where, <〇, 贝1J lm =PnJC0^ 2 10 ln =pn -Pmxtan02
其中, 第一斜軸角度Θ = a sinWherein, the first oblique axis angle Θ = a sin
Qi ~Q\ 第二斜軸角度θ2二a sin _Qi ~ Q3_λ! (P2 — P3)2 + (Q2 — Qi)1 15 因此,可以求出轉換後之橫軸值//77及縱軸值//7。 三、依斜軸比例換算步驟: 對應座標(Dm,Dn)之計算,可分成下列四種情況: 1 .若凡,0且//7 2 0,貝'1Qi ~Q\ Second oblique axis angle θ2 two a sin _Qi ~ Q3_λ! (P2 - P3)2 + (Q2 - Qi)1 15 Therefore, the horizontal axis value after conversion / /77 and the vertical axis value can be obtained / /7. Third, according to the oblique axis scaling step: The calculation of the corresponding coordinates (Dm, Dn) can be divided into the following four cases: 1. If, 0 and / / 7 2 0, Bay '1
Ά —柄-p/hQ2-q/X] "X〇)Cn (ft-β2) 20 7 1261785 「(z 丨—z0)c21 I(p2-p])2^(Q2-q])2 D=Yt (ft-a) (m)c22 若凡7 <0且//7 20,則 = X, 柄-RfHQ2-Q3y :(Z2—Xj)C31 (04 -ft) (d)c32Ά —handle-p/hQ2-q/X] "X〇)Cn (ft-β2) 20 7 1261785 "(z 丨-z0)c21 I(p2-p])2^(Q2-q])2 D=Yt (ft-a) (m)c22 If 7 <0 and //7 20, then = X, handle -RfHQ2-Q3y :(Z2—Xj)C31 (04 -ft) (d)c32
4 .若凡7 < 0且//? < 0,則4. If 7 < 0 and / / ? < 0, then
Dni 二 X' V(A ~^)2+(02 ~Q^yDni II X' V(A ~^)2+(02 ~Q^y
Dn-Y^Dn-Y^
(^-^〇)C42(^-^〇)C42
且,其中之 Ch、C12、C21、C22、C31、C32、C41、c 10 均為一預設之系統常數; 藉此,即可計算出在一目標晝面 9 1 上之對應座標 (Dm,Dn)。 然而,假設取像之張數為每秒二十張,而在習知的整 體計算過程較為複雜,又要計算平方、開根號等等,若是 15 取像之間隔時間較短(0.0 5秒或更快),或是計算之設備較 慢,有可能發生換算速度緩慢而超過 〇.〇5秒的情形,來 不及計算下一影像的窘境,嚴重影響系統之運作。 其次,傳統式之眼球軌跡追蹤方法係直接將眼部影像 8 1261785 t 之眼球中心位置直接轉換到顯示螢幕上,但是,當使用者 的眼睛移動時,會有所謂自然振動、顫抖的情形而產生不 固定方向的移動(或稱為「游標飄移」),所以,實際擷取 到之移動路徑為不規則狀,若未篩選排除這些不自主的自 5 然振動所造成之移動,所得到的結果將呈現不規則振動的 情形,影響整個眼控系統之操控性及穩定度。And wherein Ch, C12, C21, C22, C31, C32, C41, and c 10 are each a predetermined system constant; thereby, the corresponding coordinates (Dm,) on a target pupil plane 9 1 can be calculated. Dn). However, assuming that the number of images taken is twenty sheets per second, and the conventional overall calculation process is complicated, it is necessary to calculate the square, the opening number, etc., if the interval between the 15 images is shorter (0.0 5 seconds) Or faster, or the device is slower to calculate. It may happen that the conversion speed is slow and exceeds 〇.〇5 seconds. It is too late to calculate the dilemma of the next image, which seriously affects the operation of the system. Secondly, the traditional eyeball trajectory tracking method directly converts the eyeball center position of the eye image 8 1261785 t directly onto the display screen, but when the user's eyes move, there is a so-called natural vibration and tremor. Movement in a non-fixed direction (or "cursor drift"), so the actual moving path is irregular, and if not filtered to exclude the movement caused by these involuntary vibrations, the result is The situation of irregular vibration will be exerted, which affects the handling and stability of the entire eye control system.
例如,若使用者注視此第十三圖所示之移動路徑圖, 並依序由左端開始,沿上方路徑移動至右端,再順著下方 路徑回到起點。然而,由於人眼難免有不自主的自然振動 10 ,因此導致實際擷取到之眼球移動點之數據將如第十四圖 之實線所示,呈一不規則之移動路徑,特別是注視點 P 5 至P6以及由 P6至P7時,其移動方向偏離甚劇,為典型 自然振動所造成之不規則移動,會影響後續整個眼控系統 之操控性及穩定度。 15 因此,有必要研發出新技術,以解決上述缺點。For example, if the user looks at the moving path map shown in the thirteenth figure and starts from the left end in sequence, moves to the right end along the upper path, and then returns to the starting point along the lower path. However, since the human eye inevitably has involuntary natural vibrations 10, the data of the eyeball moving point actually taken will be as shown by the solid line in Fig. 14, showing an irregular moving path, especially the fixation point. When P 5 to P6 and P6 to P7, the moving direction deviates greatly, which is the irregular movement caused by typical natural vibration, which will affect the handling and stability of the subsequent whole eye control system. 15 Therefore, it is necessary to develop new technologies to address the above shortcomings.
【發明内容】 本發明之主要目的,在於提供一種眼球軌跡追蹤方法 ,其算式簡單且換算速度快。 本發明之次一目的,在於提供一種眼球軌跡追蹤方法 2 0 ,當使用者配戴位置有偏差時可加以校正。 本發明之又一目的,在於提供一種眼球軌跡追蹤方法 ,其中,利用移動方向是否相同之累計次數來篩選掉偏離 之注視點,進而可以得到一較平順且無自然振動之眼球軌 跡數據,克服人眼自然振動的問題。 9 1261785 本發明之再一目的,在於提供一種眼球執跡追蹤方法 ,其可調整移動方向是否相同之累計次數的預設閥值大小 ,來微調整個系統之靈敏度。 本發明之上述目的與優點,不難從下述所選用實施例 5 之詳細說明與附圖中,獲得深入瞭解。 茲以下列實施例並配合圖式詳細說明本發明於後: 【實施方式】SUMMARY OF THE INVENTION The main object of the present invention is to provide an eyeball trajectory tracking method, which has a simple calculation formula and a fast conversion speed. A second object of the present invention is to provide an eyeball trajectory tracking method 20 which can be corrected when there is a deviation in the wearing position of the user. Another object of the present invention is to provide an eyeball trajectory tracking method, wherein the gaze point of the deviation is filtered out by using the cumulative number of times of the same moving direction, thereby obtaining a smoother and natural vibration-free eyeball trajectory data, overcoming the person. The problem of natural vibration of the eye. 9 1261785 Still another object of the present invention is to provide an eyeball tracking method capable of adjusting the sensitivity of a system by adjusting a preset threshold value of a cumulative number of times in which the moving direction is the same. The above objects and advantages of the present invention are not difficult to understand from the detailed description of the selected embodiment 5 and the accompanying drawings. The present invention will be described in detail below with reference to the following embodiments:
本發明係為一種眼球軌跡追蹤方法,如第九圖所示, 主要包括下列步驟··一、五點校正步驟 1 1、二、校正係 10 數設定步驟 1 2、三、象限判別步驟 1 3、四、出格偏移量 判斷步驟1 4、五、座標轉換步驟1 5。 關於第一步驟之五點校正步驟,請參閱第十及十一圖 ,使用者分別注視在一顯示螢幕上之中校正點(S c X,S c y) 、右校正點(G X 1,G y 1 )、上校正點(G X 2,G y 2 )、左校正點 15 ( G X 3 , G y 3 )及下校正點(G X 4,G y 4 ),並經由一眼部影像擷取The invention is an eyeball trajectory tracking method, as shown in the ninth figure, mainly comprising the following steps: · one, five point correction step 1 1 , two, correction system 10 number setting step 1 2, three, quadrant discrimination step 1 3 4, the outlier offset judgment step 1 4, 5, coordinate conversion step 15 5. For the five-point calibration procedure of the first step, please refer to the tenth and eleventh figures, the user separately looks at the correction point (S c X, S cy) and the right correction point (GX 1, G y ) on a display screen. 1), upper correction point (GX 2, G y 2 ), left correction point 15 (GX 3 , G y 3 ), and lower correction point (GX 4, G y 4 ), and captured through an eye image
裝置擷取眼部之影像而分別獲得注視中點(MOx,MOy)、 注視右點(Μ x 1,M y 1 )、注視上點(Μ x 2,M y 2 )、注視左點 (Mx3,My3)及注視下點(Mx4,My4)。 而第二步驟之校正係數設定步驟,由下式: 2 0 設定四組校正係數(久丨,八1)、(久2,八2)、(久3,/^3)、(八4,八4) ,實務上可根據經驗值來調整或修改。 請參閱第十二圖,第三步驟為象限判別步驟,當取得 一使用者之注視點(Μ X,M y )時,即可映射至一螢幕座標 (G X,G y );藉由該注視點(Μ X,M y )與注視中點(Μ 0 X,Μ 0 y ) 10 1261785 之相減後之正負值為(正、正)、(負、正)、(負、負)、(正 、負)而分別判別為第一象限、第二象限、第三象限、第 四象限。 第四步驟係出格偏移量判斷步驟: 5 若每秒發生出界的次數多於一預定次數後,即可認定 使用者之配戴位置有偏差,即該注視點(Μ X,M y )超過校正 範圍,應加以校正,而加以計算下列公式: 若 Mxs>Mx 時,貝1J Ax = Mx-Mxs, 否貝1J A X = 0 (表示不需校正); 10 若 Mys>My 時,貝1J Ay = My-Mys, 否貝|J Ay = 0(表示不需校正); 其中,該 Mxs及 Mys為象限之邊界點,而可計算 出最大出格位置偏移量Αχ及Ay ; 第五步驟係為座標轉換步驟: 15 同樣參閱第十二圖,若為第一象限,貝1螢幕座標 (G X,G y )為:The device captures the image of the eye and obtains the gaze midpoint (MOx, MOy), the gaze right point (Μ x 1, M y 1 ), the gaze upper point (Μ x 2, M y 2 ), and the gaze left point (Mx3). , My3) and watch the next point (Mx4, My4). The second step of the correction coefficient setting step is as follows: 2 0 sets four sets of correction coefficients (久久, eight 1), (long 2, eight 2), (long 3, /^3), (eight 4, 8 4), in practice can be adjusted or modified according to the experience value. Referring to FIG. 12, the third step is a quadrant discrimination step. When a user's fixation point (Μ X, M y ) is obtained, it can be mapped to a screen coordinate (GX, G y ); The positive and negative values of the viewpoint (Μ X, M y ) and the midpoint of the gaze (Μ 0 X, Μ 0 y ) 10 1261785 are (positive, positive), (negative, positive), (negative, negative), ( Positive and negative) are respectively determined as the first quadrant, the second quadrant, the third quadrant, and the fourth quadrant. The fourth step is a step of determining the offset of the outage: 5 If the number of outbounds per second occurs more than a predetermined number of times, it can be determined that the wearing position of the user is deviated, that is, the fixation point (Μ X, M y ) exceeds The correction range should be corrected and the following formula should be calculated: If Mxs>Mx, Bay 1J Ax = Mx-Mxs, No Bay 1J AX = 0 (indicating no correction required); 10 If Mys> My, Bay 1J Ay = My-Mys, No Bay|J Ay = 0 (indicating no correction); where Mxs and Mys are the boundary points of the quadrant, and the maximum out-of-place position offset Αχ and Ay can be calculated; Coordinate conversion steps: 15 See also Figure 12. If it is the first quadrant, the Bay 1 screen coordinates (GX, G y ) are:
Gx=Scx+Ix^PxX{Mx+Ax-Sx,)Gx=Scx+Ix^PxX{Mx+Ax-Sx,)
Gy^Scy^Iy^Py,{My^Ay-Sy,) 其中,該第一象限之中點座標為 2 0Gy^Scy^Iy^Py,{My^Ay-Sy,) where the coordinates of the first quadrant are 2 0
〇 _ 〇 , ~ ^cx e _ C I ^] 2 ^cv ^χ] ~ ^cx H 2 , Λ.ν1 -〜Η 2 且其中,該眼球位置所在之第一象限中點座標 為 11 1261785 參 Μ、 Μχ'—Μ,、 2 Μ 若為第二象限,則螢幕座標(G χ,G y )為〇_ 〇, ~ ^cx e _ CI ^] 2 ^cv ^χ] ~ ^cx H 2 , Λ.ν1 -~Η 2 and wherein the first quadrant midpoint coordinates of the eyeball position are 11 1261785 , Μχ'—Μ,, 2 Μ If it is the second quadrant, the screen coordinates (G χ, G y ) are
Gx^Scx+Ix2+px2{M^Ax-Sx2)Gx^Scx+Ix2+px2{M^Ax-Sx2)
Gv-Scy^Iv2^PY2{My+Ay-Sv2) 其中,該第二象限之中點座標為Gv-Scy^Iv2^PY2{My+Ay-Sv2) wherein the coordinates of the second quadrant are
且其中,該眼球位置所在之第二象限中點座標為And wherein the midpoint of the second quadrant where the eyeball position is located is
Mox-Mx 2 Μ 〇yMox-Mx 2 Μ 〇y
Myl~M0 2 10 若為第三象限,則螢幕座標(Gx,Gy)為 Gx=Scx^Ix^Px,{Mx^Ax-Sx,) Gy^Scy+Iy^Py3{My+Ay-Sy3) 其中,該第三象限之中點座標為Myl~M0 2 10 If it is the third quadrant, the screen coordinates (Gx, Gy) are Gx=Scx^Ix^Px, {Mx^Ax-Sx,) Gy^Scy+Iy^Py3{My+Ay-Sy3) Wherein, the coordinates of the third quadrant are
,S cy ~ Gy4 ~2,S cy ~ Gy4 ~2
且其中,該眼球位置所在之第三象限中點座標 15 為 'M,、 λ-3 ',)'3 Μ ν'4 〇y 若為第四象限,則螢幕座標(G x,G y )為And wherein the third quadrant midpoint coordinate 15 of the eyeball position is 'M,, λ-3 ',) '3 Μ ν'4 〇y, if it is the fourth quadrant, the screen coordinates (G x, G y ) for
Gx-Scx+Ix^PxA(Mx+Ax-SxA)Gx-Scx+Ix^PxA(Mx+Ax-SxA)
Gy = Scy + /y4 + βν4 (My + Ay- Sv4) 12 1261785 其中,該第四象限之中點座標為 C _ Ο I ^.rl ~ ^cx Ο _ C , ^ L'y G '.4 十 0 0 Μ — 十 0 2.2 且其中,該眼球位置所在之第四象限中點座標為 Μ、 Μ.χ'-Μα 2 Μ,' ν4 2 5 藉此,即可計算出該螢幕座標(Gx,Gy)。Gy = Scy + /y4 + βν4 (My + Ay- Sv4) 12 1261785 wherein the coordinates of the fourth quadrant are C _ Ο I ^.rl ~ ^cx Ο _ C , ^ L'y G '.4 10 0 Μ - 10 0 2.2 and wherein the coordinates of the fourth quadrant of the eyeball position are Μ, Μ.χ'-Μα 2 Μ, ' ν4 2 5 , thereby calculating the screen coordinates (Gx , Gy).
為詳細說明本發明之實際運算過程,茲舉一位於第一 象限之某一點之轉換為例,若在一 8 Ο Ο X 6 0 0的目標螢幕上 設有五個校正點,並將其中心點定為原點(0,0),其中該 中校正點(Sex,Scy) = (0,0)、右校正點(Gxl,Gyl) = (400,0)、 10 上校正點(G X 2,G y 2 ) = ( 0,3 0 0 )。只取其中點位置,即可輕 易得出第一象限區域之中點座標在(2 0 0 , 1 5 0 )。In order to explain the actual operation process of the present invention in detail, a conversion at a certain point of the first quadrant is taken as an example, if five correction points are provided on the target screen of an 8 Ο Ο X 6 0 0 and the center is The point is determined as the origin (0,0), where the middle correction point (Sex, Scy) = (0,0), the right correction point (Gxl, Gyl) = (400,0), and the 10 upper correction point (GX 2 , G y 2 ) = ( 0,3 0 0 ). By taking only the midpoint position, it is easy to find the coordinates of the first quadrant area (2 0 0 , 1 5 0 ).
經過本發明之第一步驟後,得到注視中點(ΜΟχ, M0y)-( 3 8 0,2 9 0) > 注視右點(Mxl,M y 1 ) = ( 4 8 0,3 0 0 ) > 注視 上點(Mx2,My2) = (380,340)。 15 而第二步驟之校正係數設定步驟,由下式: 設定四組校正係數(々rl,八丨)、(久2,八2)、( /?λ3,/?),3)、( Ad) ,其中,^,;^)^0·98,0.95)。 第三步驟為象限判別步驟,當使用者之注視點 (Mx,My) = (450,320)時,即可映射至一螢幕座標(Gx,Gy); 2 0 藉由該注視點(Mx,My) = (4 5 0,3 2 0 )與注視中點(ΜΟχ , Μ 0 y ) = ( 3 8 0,2 9 0 )之相減後之正負值均為(正、正)而判別為 13 1261785 第一象限。 第四步驟係出格偏移量判斷步驟: 由於該注視點(Mx,My) = ( 4 5 0,3 2 0 ),並未超過校正範 圍(均小於Mxs及Mys),即 Αχ = 0(表示不需校正)且 Ay=0( 5 表示不需校正); 第五步驟係為座標轉換步驟: 同樣參閱第十二圖,由於為第一象限, 其中,該第一象限之中點座標為 &丨=+ G^~---^=4 00 + (400-0)/2 = 600 10 15After the first step of the present invention, the midpoint of the gaze is obtained (ΜΟχ, M0y)-(3 8 0, 2 9 0) > gaze to the right point (Mxl, M y 1 ) = ( 4 8 0, 3 0 0 ) > Look at the upper point (Mx2, My2) = (380, 340). 15 The second step of the correction coefficient setting step is as follows: Set four sets of correction coefficients (々rl, gossip), (long 2, eight 2), (/?λ3, /?), 3), (Ad ), where ^, ;^)^0·98, 0.95). The third step is the quadrant discrimination step. When the user's fixation point (Mx, My) = (450, 320), it can be mapped to a screen coordinate (Gx, Gy); 2 0 by the fixation point (Mx, My) = (4 5 0,3 2 0 ) and the positive and negative values after the subtraction of the midpoint of the gaze (ΜΟχ , Μ 0 y ) = ( 3 8 0, 2 9 0 ) are both (positive and positive) and are judged as 13 1261785 First quadrant. The fourth step is the step of judging the offset: since the gaze point (Mx, My) = ( 4 5 0, 3 2 0 ), the correction range is not exceeded (both less than Mxs and Mys), ie Αχ = 0 (representing No correction is required) and Ay=0 (5 means no correction is required); the fifth step is coordinate conversion step: See also the twelfth figure, because it is the first quadrant, where the coordinates of the first quadrant are &;丨=+ G^~---^=4 00 + (400-0)/2 = 600 10 15
S + 少2 _,..= 3 00 + (300-0)/2 = 450 ' 2 且其中,該眼球位置所在之第一象限中點座標 為S + less 2 _,..= 3 00 + (300-0)/2 = 450 ' 2 and wherein the first quadrant midpoint coordinates of the eyeball position are
7vl =Mox + ^^-^= 3 8 0 + (4 8 0 - 3 8 0 )/2 = 4 3 0 Μ , - Μ7vl =Mox + ^^-^= 3 8 0 + (4 8 0 - 3 8 0 )/2 = 4 3 0 Μ , - Μ
Iyx = M〇y + 290 + (340-290)/2 = 315 則螢幕座標(Gx,Gy)為 Gx-Scx^Ix^PxA{Mx^Ax-Sx,) =400+430+0.98*(480+0-600) = 7 12Iyx = M〇y + 290 + (340-290)/2 = 315 The screen coordinates (Gx, Gy) are Gx-Scx^Ix^PxA{Mx^Ax-Sx,) =400+430+0.98*(480 +0-600) = 7 12
Gy-Scy^Iy^Py]{My^Ay-SvX) 14 1261785 =300+315+0.95*(320+0-450) = 49 1 因此,可以快速換算出對應之螢幕座標(G x,G y )為 (7 1 2,4 9 1 ),計算過程簡單又快速。 5 當然,為使本發明之眼球執跡追蹤方法之精確性更高 ,特別是可避免眼球自然振動之誤差,如第九圖所示,可 再增加下列後續處理步驟:六、取得複數移動點步驟 16 、七、判別移動方向步驟 1 7、八、輸出執跡計算步驟 18Gy-Scy^Iy^Py]{My^Ay-SvX) 14 1261785 =300+315+0.95*(320+0-450) = 49 1 Therefore, the corresponding screen coordinates (G x, G y can be quickly converted) ) For (7 1 2, 4 9 1 ), the calculation process is simple and fast. 5 Of course, in order to make the eyeball tracking method of the present invention more accurate, in particular, the error of natural vibration of the eyeball can be avoided, as shown in the ninth figure, the following subsequent processing steps can be added: 6. Obtaining a plurality of moving points Steps 16 and 7. Determine the moving direction Step 1 7. Eight, output execution calculation step 18
10 請參閱第十三及十四圖,本發明各步驟之細部說明如 下: 一、取得複數移動點步驟: 使用者之眼睛移動一預定軌跡在不同的時間(t)取樣 而取得複數個移動點(x(t)、y(t)),且相鄰兩個移動點形 1 5 成一移動向量’如下列之公式所示’10 Referring to Figures 13 and 14, the details of the steps of the present invention are as follows: 1. Step of obtaining a plurality of moving points: The user's eyes move a predetermined trajectory and sample at different times (t) to obtain a plurality of moving points. (x(t), y(t)), and two adjacent moving point shapes 1 5 into a moving vector 'as shown in the following formula'
二、判別移動方向步驟: 又,||卩⑴卜V(x⑴)2 + 〇(〇) 當 v(t-n) I 邓-/7)1Second, determine the direction of movement steps: Also, ||卩(1) Bu V(x(1))2 + 〇(〇) When v(t-n) I Deng-/7)1
Ap < 20 利用上述二公式可判別移動方向,其中,為使用者 自訂的誤差值,只要符合上式我們便稱為移動方向相同, 並定義η為移動方向相同之累計次數; 15 1261785 三、輸出執跡計算步驟: 當移動方向相同之累計次數η小於、等於或大於一預 設閥值k時,則輸出軌跡瓦(〇可由下式計算出: lv(〇 if η < k if n> k 5 在上列公式中,m為一預定之修正係數,藉此,即可 避免眼球自然振動之誤差之眼球移動輸出軌跡圮⑴。Ap < 20 Using the above two formulas to determine the direction of movement, wherein the user-defined error value, as long as the above formula is satisfied, we call the same moving direction, and define η as the cumulative number of moving directions; 15 1261785 III Output trace calculation step: When the cumulative number of times η of the same moving direction is less than, equal to or greater than a preset threshold k, the output track tile is calculated by the following formula: lv(〇if η < k if n> ; k 5 In the above formula, m is a predetermined correction coefficient, whereby the eye movement output trajectory 圮(1) of the natural vibration of the eye can be avoided.
在此我們實際列舉一個眼球移動執跡之例子來探討: 首先我們假設眼睛以順時針方向觀察第十三圖。 之後,第十四圖之實線部份代表眼球實際移動執跡, 10 而第十四圖中之虛線部份則是經由本發明之演算法計算過 後,分析所得到之眼球移動軌跡,以下將一步一步地說明Here we actually enumerate an example of an eye movement obstruction: First we assume that the eye observes the thirteenth figure in a clockwise direction. After that, the solid line part of the fourteenth figure represents the actual movement of the eyeball, and the dotted line part of the fourteenth figure is calculated by the algorithm of the present invention, and the obtained eye movement trajectory is analyzed. Step by step
為了說明方便,我們假設圖中的參數條件為修正係數 m = 1,預設閥值 k = 2,即當眼球移動方向累積兩次相同, 15 系統就認定眼球是以往同一方向移動,實際上的情況,必 須經由多次實驗來取得適當之k值。 當然,藉由改變此預設閥值k之大小,亦可達到微調 系統之靈敏度之目的。 目艮睛由 A區開始瀏覽此圖,途中經過B區及 C區, 2 0 再回到 A區。假設在 B區及 C區時,目艮球各發生一次不 自主之振動因而量測到之位置有不同方向、不固定方向的 16 1261785 現象產生。 其中, R:代表第i次的量測到的移動量(輸入) t:代表第i次的游標移動量(輸出) △戶:代表允許的誤差偏移量 η:代表移動方向相同的累計次數For convenience of explanation, we assume that the parameter condition in the figure is the correction coefficient m = 1, the preset threshold k = 2, that is, when the eyeball movement direction is accumulated twice, the 15 system determines that the eyeball is moving in the same direction in the past, in fact In the case, the appropriate k value must be obtained through multiple experiments. Of course, by changing the size of the preset threshold k, the sensitivity of the system can be fine-tuned. The eyesight is starting from the A area to view this picture, passing through the B area and the C area, and returning to the A area. It is assumed that in the B zone and the C zone, an involuntary vibration occurs in each of the target balls, and thus the measured position has a different direction and an unfixed direction of the phenomenon of 16 1261785. Where R: represents the measured amount of movement of the i-th time (input) t: represents the i-th cursor movement amount (output) △ household: represents the allowable error offset η: represents the same cumulative number of movement directions
當注視點由Ρ 0移動至Ρ 1,L = (Vly〇)代表第一次輸出 結果,其中令第一次移動後移動方向相同之累計次數 10 當注視點由 P 1移動至 P 2,巧=巧=>"二2第二次的移動 方向與第一次的移動方向相同,所以輸入輸出結果相同且 η增加 1,此時n = 2,確認目艮球移動方向。When the fixation point moves from Ρ 0 to Ρ 1, L = (Vly〇) represents the first output result, in which the cumulative number of movements after the first movement is the same. 10 When the fixation point is moved from P 1 to P 2 , =巧=>" The second movement direction of the second and second movements is the same as the movement direction of the first time, so the input and output results are the same and η is increased by 1, and n = 2 at this time, confirming the movement direction of the target ball.
當注視點由 P2移動至 P3,$关%=^ = 〇第三次的移動 方向與第二次的移動方向不同,所以 η重設為 0,即累計 15 次數歸零。 當注視點由Ρ3移動至Ρ4,圮三、 四兩次移動的方向在誤差容許範圍内,所以輸入輸出結果 相同且η增加 1,此時η = 1。 當注視點由 Ρ 4 移動至 Ρ 5, ν4 - Δρ < ν5 < ν4 + => νο5 = ν5 2 0 四、五兩次移動的方向在誤差容許範圍内,所以輸入輸出 結果相同且η增加 1,此時η = 2,確認眼球移動方向。 17 1261785 當注視點由 P 5 移動至 P 6 ’ K矣v5 /7 = 0弟六次的移動 方向與第五次的移動方向不同,所以η重設為0。 當注視點由 Ρ6 移動至 Ρ 7,V7关之m = 0第七次的移動 方向與第六次的移動方向不同,所以η亦設為0。 當注視點由 Ρ7 移動至 Ρ8,%关6=>" = 〇第八次的移動 方向與第七次的移動方向不同,所以η仍然為0。When the fixation point is moved from P2 to P3, $OFF%=^ = 〇 The third movement direction is different from the second movement direction, so η is reset to 0, that is, the cumulative number of times is zero. When the fixation point is moved from Ρ3 to Ρ4, the direction of the third and fourth movements is within the error tolerance range, so the input and output results are the same and η is increased by 1, and η = 1. When the fixation point is moved from Ρ 4 to Ρ 5, ν4 - Δρ < ν5 < ν4 + => νο5 = ν5 2 0 The direction of the four or five movements is within the error tolerance range, so the input and output results are the same and η Increase by 1, at this time η = 2, confirm the direction of eye movement. 17 1261785 When the fixation point is moved from P 5 to P 6 ′ K矣v5 /7 = 0 The movement direction of the six times is different from the movement direction of the fifth time, so η is reset to 0. When the fixation point is moved from Ρ6 to Ρ7, V7 is closed to m = 0, the seventh movement direction is different from the sixth movement direction, so η is also set to zero. When the fixation point is moved from Ρ7 to Ρ8, % off 6=>" = 〇 The eighth movement direction is different from the seventh movement direction, so η is still 0.
當注視點由Ρ 8移動至Ρ 9,% — Δρ <孓 < 交8 + Δρ => t =交9八、 九兩次移動的方向在誤差容許範圍内,所以輸入輸出結果 相同且增加 1,此時η = 1。 10 當注視點由 Ρ 9 移動至 Ρ 1 0,交9 - △/? <交丨0 S交9 + Δρ => <丨0二交10 九、十兩次移動的方向在誤差容許範圍内,所以輸入輸出 結果相同且η增加1,此時η = 2,確認眼球移動方向。 其餘類推,在此不贅述。When the fixation point is moved from Ρ 8 to Ρ 9,% — Δρ <孓< intersection 8 + Δρ => t = intersection 9 八, the direction of the nine movements is within the error tolerance range, so the input and output results are the same and Increase by 1, where η = 1. 10 When the gaze point moves from Ρ 9 to Ρ 1 0, pay 9 - △ /? < 丨 S 0 S intersection 9 + Δρ => < 丨 0 two intersections 10 IX, the direction of the twelfth movement is allowed in the error Within the range, the input and output results are the same and η is increased by 1, and η = 2 at this time, confirming the direction of eye movement. The rest are analogies, so I won't go into details here.
所以,由第十四圖可看出,由注視點 Ρ 0 至 Ρ 1 0,本 15 發明之實際輸出軌跡為Ρ 0至Ρ 2,然後Ρ 2至Ρ 5,之後為 Ρ 5至Ρ 1 0,很明顯的此輸出結果(第十四圖之虛線所示)不 僅極為接近第十三圖所示之相對應移動路徑,而且將不自 主的自然振動所造成之不規則偏移點Ρ6篩選掉。 若觀察整個移動軌跡,根據以上的方法,如第十四圖 2 0 所示,本演算法持續追蹤眼球移動的軌跡,從Α區開始, 經過 B區再回到 A區,將所有分析過的輸出向量連接在 一起,可得到第十四圖當中的虛線,即經由演算法分析後 18 1261785 所得到之眼球移動的軌跡,其中在 B區及 C區皆有一次 因人眼不自主的自然振動所產生之不固定方向移動,在經 由本演算法的判斷之下,可以分辨出來並非是眼球真正移 動之方向。 5 綜上所述,本發明之優點及功效可歸納為: [1 ]算式簡單且換算速度快。由於本發明所採用的計 算方式簡單,無繁瑣的平方、開根號及冗長的計算,所以 可縮短實際運算時間。Therefore, as can be seen from Fig. 14, from the gaze point Ρ 0 to Ρ 1 0, the actual output trajectory of the present invention is Ρ 0 to Ρ 2, then Ρ 2 to Ρ 5, and then Ρ 5 to Ρ 1 0 It is obvious that this output result (shown by the dotted line in Fig. 14) is not only very close to the corresponding moving path shown in Fig. 13, but also the irregular offset point Ρ6 caused by the involuntary natural vibration is filtered out. . If you observe the entire movement trajectory, according to the above method, as shown in Figure XIV, the algorithm continues to track the trajectory of eye movement, starting from the squatting area, passing through the B area and then returning to the A area, all the analyzed The output vectors are connected together to obtain the dashed line in the fourteenth figure, that is, the trajectory of the eye movement obtained by the algorithm analysis after 18 1261785, in which there is a natural vibration in the B area and the C area due to involuntary human eyes. The resulting non-fixed direction of movement, under the judgment of this algorithm, can be distinguished not by the direction in which the eyeball actually moves. 5 In summary, the advantages and effects of the present invention can be summarized as follows: [1] The formula is simple and the conversion speed is fast. Since the calculation method adopted by the present invention is simple, and there is no cumbersome square, root number and lengthy calculation, the actual calculation time can be shortened.
[2]當使用者配戴位置有偏差時可加以校正。由於使 10 用者配戴眼控設備時偶爾會偏離正常位置太多,造成取像 及轉換時出界的情形,然而本發明卻可以針對當使用者配 戴位置有偏差時可加以校正。[2] It can be corrected when there is a deviation in the user's wearing position. Since 10 users occasionally deviate from the normal position when wearing the eye control device, which causes the situation to be out of bounds during image capture and conversion, the present invention can be corrected for the deviation of the user's wearing position.
[3 ]可避免眼球自然振動之誤差。在眼控系統的影像 處理方面,由於人眼本身會有不自主的顫抖現象產生,由 15 於本發明可以利用移動方向相同之累計次數來篩選掉自然 振動所造成之偏移點,使整個輸出軌跡接近實際值,因此 ,可提升後續眼控系統之操控性及穩定度, [4]可自行調整系統之靈敏度。其可調整移動方向是 否相同之累計次數的預設閥值k大小,來微調整個系統之 2 0 靈敏度。 以上僅是藉由較佳實施例詳細說明本發明,對於該實 施例所做的任何簡單修改與變化皆不脫離本發明之精神與 範圍。 19 1261785 由以上詳細說明,可使熟知本項技藝者明瞭本發明的 確可達成前述目的,實已符合專利法之規定,爰提出發明 專利申請。[3] can avoid the error of natural vibration of the eyeball. In the image processing of the eye control system, since the human eye itself has an involuntary tremor phenomenon, the present invention can use the same cumulative number of moving directions to filter out the offset caused by natural vibration, so that the entire output The trajectory is close to the actual value, so it can improve the handling and stability of the subsequent eye control system, [4] can adjust the sensitivity of the system. It can adjust the preset threshold k of the same cumulative number of movement directions to slightly adjust the sensitivity of the system. The present invention has been described in detail with reference to the preferred embodiments thereof, without departing from the spirit and scope of the invention. 19 1261785 From the above detailed description, it will be apparent to those skilled in the art that the present invention can achieve the foregoing objects and is in accordance with the provisions of the Patent Law.
20 1261785 【圖式簡單說明】 第一圖係頭配式裝置之配戴示意圖 第二圖係頭配式裝置之取像斜角示意圖 第三圖係大型投影晝面之取像示意圖 5 第四圖係眼部影像之示意圖 第五 A、五B、五 C、五 D、五 E圖係目標畫面上分 別顯示之上、右、中、左、下參考點之示意圖20 1261785 [Simple description of the diagram] The first diagram is the schematic diagram of the wearing of the head-mounted device. The second diagram is the schematic diagram of the angle of the image of the head-mounted device. The third picture is the image-taking diagram of the large-scale projection surface. The schematic diagram of the eye image shows the top, right, middle, left and lower reference points on the target screens of the fifth, fifth, fifth, fifth, and fifth E images.
第六 A、六B、六 C、六D、六E圖係所擷取之眼部 影像上分別顯示之注視上方點(P Q,Q。)、注視右方點(P ,,Q ,) 10 、注視中央點(P2,Q2)、注視左方點(P3,Q3)、注視下方點 (p4,Q4) 第七圖係習知五點校正步驟中之各點示意圖 第八圖係習知以斜軸角度及比例關係之示意圖 第九圖係本發明之流程圖 15 第十圖係本發明在五點校正步驟中之螢幕示意圖The points above the gaze (PQ, Q.) and the right points (P, Q,) are displayed on the eye images captured by the sixth, sixth, sixth, sixth, and sixth E systems. Look at the central point (P2, Q2), look at the left point (P3, Q3), and look at the lower point (p4, Q4). The seventh figure is the point in the conventional five-point correction step. Schematic diagram of oblique axis angle and proportional relationship FIG. 9 is a flow chart of the present invention. FIG. 10 is a schematic diagram of a screen of the present invention in a five-point calibration step.
第十一圖係本發明之眼球位置之對應關係示意圖 第十二圖係本發明範例說明示意圖 第十三圖係本發明之觀察目標之示意圖 第十四圖係傳統式與本發明之眼球執跡之比較圖 2 0 (圖號說明) 五點校正步驟1 1 校正係數設定步驟1 2 象限判別步驟1 3 出格偏移量判斷步驟1 4 座標轉換步驟1 5 取得複數移動點步驟1 6 判別移動方向步驟1 7 輸出軌跡計算步驟1 8 21 1261785 10 15 2011 is a schematic diagram showing the correspondence relationship between the positions of the eyeballs of the present invention. FIG. 12 is a schematic diagram showing an exemplary embodiment of the present invention. FIG. 14 is a schematic view showing the object of observation of the present invention. FIG. Comparison Figure 2 0 (Description of the figure) Five-point correction step 1 1 Correction coefficient setting step 1 2 Quadrant discrimination step 1 3 Out-of-grid offset determination step 1 4 Coordinate conversion step 1 5 Obtain complex moving point Step 1 6 Determine the moving direction Step 1 7 Output Track Calculation Step 1 8 21 1261785 10 15 20
右校正點(G χ 1,G y 1 ) 左校正點(G x 3,G y 3 ) 螢幕座標(Gx, Gy) 第一象限中點座標(S x 1,S y 1 )第二象限中點座標(S x 2,S y 2 ) 第三象限中點座標(S x 3 , S y 3 )第四象限中點座標(S x 4,S y 4 ) 注視點 P0、PI、P2、P3、P4 > P5、P6、P7、P8、P9、P 1 0 區 A、B、C 目標畫面9 1 眼部影像9 3 上參考點C0(X。,Y0) 中參考點C2(X3,Y3) 下參考點C4(X4,Y4) 注視上方點(Pg,Q〇) 注視中央點(p2,q2) 注視下方點(p4,q4) 注視點(Μ X,M y) 橫軸值/w 對應座標(Dm,Dn) 注視中點(Μ 0 x,Μ 0 y) 注視上點(Μ x 2,M y 2 ) 注視下點(Μ x 4,M y 4 ) 中校正點(S c χ,S c y ) 上校正點(Gx2,Gy2) 下校正點(G x 4,G y 4 ) 眼部影像擷取裝置9 2 傾斜角度θ 右參考點CUX^Y!) 左參考點C 3 ( X 3,Y 3) 注視右方點(P !,Q !) 注視左方點(P 3,Q 3) 已擷取座標(pm,pn) 縱軸值久 注視右點(Μ χ 1,M y 1 ) 注視左點(Μ χ 3,M y 3 ) 移動方向vQ1 、v2、 V3、 v4、 v5、 v6、 v7、 v8、 v9、 22Right correction point (G χ 1, G y 1 ) Left correction point (G x 3, G y 3 ) Screen coordinates (Gx, Gy) First quadrant midpoint coordinates (S x 1, S y 1 ) in the second quadrant Point coordinates (S x 2, S y 2 ) third quadrant midpoint coordinates (S x 3 , S y 3 ) fourth quadrant midpoint coordinates (S x 4, S y 4 ) fixation points P0, PI, P2, P3 , P4 > P5, P6, P7, P8, P9, P 1 0 Area A, B, C Target screen 9 1 Eye image 9 3 Reference point C0 (X., Y0) Reference point C2 (X3, Y3) ) Lower reference point C4 (X4, Y4) Look at the upper point (Pg, Q〇) Look at the center point (p2, q2) Look at the lower point (p4, q4) Gaze point (Μ X, M y) Horizontal axis value / w Correspondence Coordinate (Dm, Dn) Look at the midpoint (Μ 0 x, Μ 0 y) Look at the upper point (Μ x 2, M y 2 ) Look at the correction point in the lower point (Μ x 4, M y 4 ) (S c χ, S cy ) Upper correction point (Gx2, Gy2) Lower correction point (G x 4, G y 4 ) Eye image capturing device 9 2 Tilt angle θ Right reference point CUX^Y!) Left reference point C 3 ( X 3 , Y 3) Look at the right point (P !, Q !) Look at the left point (P 3, Q 3) The coordinates have been captured (pm, pn) The vertical axis value is the right point for a long time (Μ χ 1, M y 1 Gaze Point (Μ χ 3, M y 3) moving direction vQ1, v2, V3, v4, v5, v6, v7, v8, v9, 22
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TWI392858B (en) * | 2008-12-12 | 2013-04-11 | Inst Information Industry | Pupil position acquisition system, method and computer program products |
TWI617948B (en) * | 2015-07-24 | 2018-03-11 | 由田新技股份有限公司 | Module, method and computer readable medium for eye-tracking correction |
TWI699671B (en) * | 2018-12-12 | 2020-07-21 | 國立臺灣大學 | Method for reducing operation on eye-tracking and eye-tracking device thereof |
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TWI392858B (en) * | 2008-12-12 | 2013-04-11 | Inst Information Industry | Pupil position acquisition system, method and computer program products |
TWI617948B (en) * | 2015-07-24 | 2018-03-11 | 由田新技股份有限公司 | Module, method and computer readable medium for eye-tracking correction |
TWI699671B (en) * | 2018-12-12 | 2020-07-21 | 國立臺灣大學 | Method for reducing operation on eye-tracking and eye-tracking device thereof |
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