| 主权项 |
1. A method for calibrating a frame worn by a wearer containing an exo-camera directed to a display that is not worn by the wearer and a first and a second endo-camera, each directed to an eye of the wearer, comprising:
a processor collecting data related to a projection of an image with a plurality of calibration points on the display with a known set of 3D coordinates in coordinates of the exo-camera directed to the display and in coordinates of the endo-camera as an exo-endo pair; the processor optimizing a relative pose of the exo-endo pair as a set of rotation and translation parameters which minimizes an error criterion; the processor estimating parameters of a geometric model of the eye while a gaze by the eye in an unobstructed manner focuses on a known location on the display; the processor minimizing a gaze projection error on the display with regard to a known ground truth; and the processor determining a relative transformation between an endo-camera coordinate system and an exo-camera coordinate system; and wherein the relative transformation is expressed as:
px=Rexpe tex+ wherein Rex εSO(3) is a rotation matrix, wherein SO(3) is a rotation group, tex εR3 is a translation vector, px εR3 is a vector of points in the exo camera coordinate system, and pe εR3 is a vector of points in the endo camera coordinate system. |
