Binocular sight tracking method, device and equipment
A gaze tracking, binocular technology, applied in the field of visual tracking, can solve problems such as calculation result error
Pending Publication Date: 2022-03-08
CHINA AUTOMOTIVE INNOVATION CORP
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Problems solved by technology
It solves the problem that the eye tracking method based on monocular camera in the prior art needs to use the external average face information for approximate calculation, and the calculation result has a large error
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[0059] The following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only some, not all, embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts belong to the protection scope of the present invention.
[0060] It should be noted that the terms "first" and "second" in the description and claims of the present invention and the above drawings are used to distinguish similar objects, but not necessarily used to describe a specific sequence or sequence. It is to be understood that the data so used are interchangeable under appropriate circumstances such that the embodiments of the invention described herein can be practiced in sequences other than those illustrate...
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The invention relates to a binocular sight tracking method, device and equipment, and the method comprises the steps: obtaining a first left eye image and a second left eye image of a left eye, the first left eye image and the second left eye image being left eye images collected by a first camera and a second camera in a binocular camera at the same time; obtaining four two-dimensional coordinates of three image points of the pupil center of the left eye and the iris edge of the left eye according to the first left eye image; obtaining the pupil center of the left eye and the other four two-dimensional coordinates of the three image points according to the second left eye image; obtaining the pupil center of the left eye and the three-dimensional coordinates of the three image points under the camera coordinate system according to the pupil center of the left eye and the two-dimensional coordinates corresponding to the three image points; and obtaining the sight line direction of the left eye according to the pupil center of the left eye and the three-dimensional coordinates of the three image points. By calculating the three-dimensional coordinates of the three image points of the pupil center of the left eye and the iris edge of the left eye, the sight line direction of the left eye is accurately determined.
Description
technical field [0001] The present invention relates to the technical field of visual tracking, in particular to a binocular visual tracking method, device and equipment. Background technique [0002] Visual tracking technology, also known as eye tracking technology, is a technology that uses various detection methods such as software algorithms, machinery, electronics, and optics to obtain the subject's current visual attention direction. It is widely used in human-computer interaction, assisted driving, and psychological research. , virtual reality and military and many other fields. [0003] Among the existing gaze tracking methods, the common gaze tracking method is the gaze tracking method based on the monocular camera, and the gaze tracking method based on the monocular camera cannot calculate the depth information of the target object, so the 3D key points of the face For location information, it is necessary to use the external average face information for approxima...
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IPC IPC(8): G06T7/246
CPCG06T7/246G06T2207/20228
Inventor 季栋辉于波朱成彦
Owner CHINA AUTOMOTIVE INNOVATION CORP