A calibration system for a camera in smart glasses

Abstract

The application provides a calibration system for cameras in smart glasses, and relates to the technical field of wearable devices. At least two calibration elements are arranged around an adjusting mechanism. The number of calibration elements should correspond to the number of cameras required for single calibration. The calibration elements are located in the shooting field of view range of corresponding cameras. In the calibration process, the adjusting mechanism can drive the smart glasses to be calibrated to move, so that the positions of the calibration elements in the shooting field of view range of corresponding cameras change. Through multiple shooting of the calibration elements by the cameras participating in calibration, the image data output by the cameras participating in calibration can contain specific information (the specific information is the change of the position of each calibration element in the shooting field of view range of the corresponding camera). Through comparison and analysis of the specific information, the calibration parameters of the cameras participating in calibration can be obtained, so that the calibration of the cameras equipped in the smart glasses to be calibrated is realized. After calibration, the device can have consistent and stable performance.

Description

Technical Field

[0001] This application relates to the field of wearable device technology, and more specifically, to a calibration system for a camera in smart glasses. Background Technology

[0002] With the development of near-eye display technology and wearable devices, smart glasses are gradually entering the consumer market. Smart glasses are equipped with various display technologies such as AR (Augmented Reality), VR (Virtual Reality), MR (Mixed Reality), and XR (Extended Reality) to enhance the user experience. To improve the human-computer interaction experience of smart glasses, eye-tracking functionality is often included, allowing the glasses to determine the user's focus based on their gaze direction.

[0003] Smart glasses equipped with eye-tracking functionality typically feature a scene camera and an eye-tracking camera. The scene camera captures images of the surrounding environment, while the eye-tracking camera captures images of the user's eyes, enabling seamless human-computer interaction. However, to ensure consistent and stable performance after the smart glasses leave the factory, the scene camera and eye-tracking camera need to be calibrated before shipment. Considering the differences in shooting orientation between the scene camera and the eye-tracking camera, a mature calibration solution is currently lacking. Utility Model Content

[0004] The purpose of this application is to provide a calibration system for cameras in smart glasses, addressing the shortcomings of the prior art described above.

[0005] To achieve the above objectives, the technical solutions adopted in the embodiments of this application are as follows: One aspect of this application provides a calibration system for cameras in smart glasses, including an adjustment mechanism and at least two calibration members disposed around the adjustment mechanism; the adjustment mechanism is used to fix the smart glasses to be calibrated; the at least two calibration members correspond one-to-one with at least some of the cameras in the smart glasses to be calibrated; the adjustment mechanism is driven to move the smart glasses to be calibrated to adjust the shooting direction of at least some of the cameras, so that the position of each calibration member changes within the shooting field of view of the corresponding camera, and the calibration members remain within the shooting field of view of the corresponding camera; at least some of the cameras output image data, the image data containing information on the position change of each calibration member within the shooting field of view of the corresponding camera.

[0006] Optionally, the adjustment mechanism is a rotating mechanism, and in at least some of the cameras, the camera with the smallest focusing distance is located at the rotation center of the rotating mechanism.

[0007] Optionally, at least two calibration elements are distributed on opposite and / or adjacent sides of the adjustment mechanism. The number of calibration elements is two, and the cameras in the smart glasses to be calibrated include an eye-tracking camera and a scene camera. The two calibration elements are distributed on opposite sides of the adjustment mechanism, and each calibration element corresponds one-to-one with the eye-tracking camera and the scene camera, respectively.

[0008] Optionally, during the movement of the smart glasses to be calibrated, the distance from each calibrator to the corresponding camera is within the focusing distance of that camera.

[0009] Optionally, the system includes two calibration elements, one of which is 500mm to 1000mm away from the corresponding camera, and the other of which is 15mm to 50mm away from the corresponding camera.

[0010] Optionally, the calibration element has a flat surface on which calibration patterns are provided.

[0011] Optionally, the image data includes multiple frames of images captured by each camera, with the calibration pattern occupying an area of ​​50% or more in each frame.

[0012] Optionally, during the movement of the smart glasses to be calibrated, the plane of the calibration component and the optical axis of the camera corresponding to the calibration component have an angle A, and 50°≤A≤90°.

[0013] Optionally, before the smart glasses to be calibrated move, the plane of the calibrator is perpendicular to the optical axis of the camera corresponding to the calibrator, and / or the center of the plane of the calibrator is located on the optical axis of the camera corresponding to the calibrator.

[0014] Optionally, the system also includes a base, an adjustment mechanism and at least two calibration elements respectively disposed on the base, and the base has multiple fixed positions, the adjustment mechanism and / or calibration elements being able to switch between multiple fixed positions.

[0015] Optionally, the rotating mechanism includes: A two-axis rotary mechanism, wherein the two rotation axes of the two-axis rotary mechanism intersect at the rotation center of the two-axis rotary mechanism; Alternatively, a three-axis rotary mechanism, wherein the three axes of rotation of the three-axis rotary mechanism intersect at the rotation center of the three-axis rotary mechanism; Alternatively, a spherical rotation mechanism, which includes a rotating base and a rotating component, wherein the rotating component and the base are fitted together via a spherical surface, and the rotating component is used to fix the smart glasses to be calibrated; Alternatively, a robotic arm, the end of which is used to hold the smart glasses to be calibrated.

[0016] Optionally, the smart glasses to be calibrated are wearable devices, and at least some of the cameras include an environmental camera for capturing images of the environment in which the wearable device is located and an eye-tracking camera for capturing images of the eyes.

[0017] The beneficial effects of this application include: This application provides a calibration system for cameras in smart glasses. At least two calibration elements are arranged around an adjustment mechanism, the number of which corresponds to the number of cameras to be calibrated in a single operation. Each calibration element is set according to the shooting direction of its corresponding camera, for example, within the camera's field of view. During calibration, the adjustment mechanism, driven by an external force, can move the smart glasses to be calibrated. This causes the cameras to move synchronously with the glasses, resulting in a change in the shooting direction of each participating camera relative to its corresponding calibration element. This change causes the position of the calibration element within its corresponding camera's field of view to shift. By repeatedly photographing the calibration elements with the participating cameras, specific information (i.e., the positional change of each calibration element within its corresponding camera's field of view) can be included in the image data output by the cameras. By comparing and analyzing this specific information, the calibration parameters of the participating cameras can be obtained, thereby calibrating the camera equipped in the smart glasses. The calibrated device exhibits consistent and stable performance after leaving the factory. Attached Figure Description To more clearly illustrate the technical solutions of the embodiments of this application, the accompanying drawings used in the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of this application and should not be regarded as a limitation of the scope. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.

[0018] Figure 1 A schematic diagram of a calibration system for a camera in smart glasses, provided as an embodiment of this application; Figure 2 This is a schematic diagram of the first calibration component within the field of view of the scene camera; Figure 3 This application provides an embodiment of an image captured by a camera. Figure 4 This is a schematic diagram of the structure of an adjustment mechanism provided in an embodiment of this application; Figure 5 This is a schematic diagram of another adjustment mechanism provided in an embodiment of this application.

[0019] Icons: 10-System; 100-Base; 101-Fixed position; 110-First calibration component; 120-Second calibration component; 130-Adjustment mechanism; 131-Base; 1311-Plug-in hole; 1312-Concave spherical surface; 132-Rotating component; 1321-Notch; 1322-Overlap groove; 133-Robotic arm; 1331-Arm segment; 140-Smart glasses; 141-Scene camera; 142-Right eye-tracking camera; 1411-Scene camera's field of view. Detailed Implementation

[0020] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0021] One aspect of this application provides a calibration system for cameras in smart glasses, including an adjustment mechanism and at least two calibration members disposed around the adjustment mechanism; the adjustment mechanism is used to fix the smart glasses to be calibrated; the at least two calibration members correspond one-to-one with at least some of the cameras in the smart glasses to be calibrated; the adjustment mechanism is driven to move the smart glasses to be calibrated to adjust the shooting direction of at least some of the cameras, so that the position of each calibration member changes within the shooting field of view of the corresponding camera, and the calibration members remain within the shooting field of view of the corresponding camera; at least some of the cameras output image data, the image data containing information on the relative position change of each calibration member within the shooting field of view of the corresponding camera.

[0022] In the system, the adjustment mechanism can be fixedly equipped with smart glasses with multiple cameras to be calibrated. At least two calibration elements are arranged around the adjustment mechanism. The number of calibration elements should correspond to the number of cameras to be calibrated in a single operation; for example, the number of calibration elements should correspond one-to-one with the number of cameras to be calibrated in a single operation. The calibration elements can be photographed and recorded by the cameras, therefore each calibration element should be set according to the shooting direction of the corresponding camera, for example, the calibration element should be located within the shooting field of view of the corresponding camera.

[0023] During calibration, the adjustment mechanism, driven by external force, moves the smart glasses to be calibrated. This causes the cameras to move synchronously with the glasses, changing the shooting direction of each camera relative to its corresponding calibration component. This change alters the position of the calibration component within the field of view of its corresponding camera. By repeatedly photographing the calibration component with the participating cameras, specific information (the positional change of each calibration component within the field of view of its corresponding camera) is extracted from the output image data. By comparing and analyzing this specific information, the calibration parameters of the participating cameras can be obtained, thus calibrating the camera equipped in the smart glasses. The calibrated device exhibits consistent and stable performance after leaving the factory.

[0024] It is important to understand that camera calibration typically involves the calibration of camera parameters, such as intrinsic parameters (e.g., focal length, optical center position, distortion parameters, etc.) and extrinsic parameters (e.g., rotation matrix and translation vector). In this application, the camera's shooting direction is the same as the camera's optical axis direction.

[0025] When calibrating the multiple cameras equipped with the smart glasses, the system can choose to calibrate once or multiple times according to actual needs. For example, it can calibrate all cameras at once, or it can calibrate each camera in batches multiple times. Among the cameras participating in different batches of calibration, some cameras may be the same.

[0026] The smart glasses to be calibrated can be devices equipped with at least two cameras, such as mobile portable devices, wearable devices, etc. Wearable devices can be head-mounted devices such as AR (Augmented Reality), VR (Virtual Reality), MR (Mixed Reality), and XR (Extended Reality), and this application does not impose any limitations on them. For ease of understanding, the accompanying drawings all use smart glasses 140 as one example.

[0027] Figure 1 This is a schematic diagram of a calibration system for a camera in smart glasses, provided as an embodiment of this application. Figure 1 The diagram shows the adjustment mechanism 130, the calibration component, and the smart glasses 140.

[0028] The adjustment mechanism 130 has at least one degree of freedom, which allows it to move the smart glasses 140 through posture changes. The more degrees of freedom the adjustment mechanism 130 has, the more directions the smart glasses 140 can move.

[0029] The adjustment mechanism 130 may include a fixed end, a movable end, and a movable component movably connected between the two. The movable end can generate relative movement with respect to the fixed end through the movable component. The smart glasses 140 can be fixed to the movable end, so that the movement of the movable end can drive the movement of the smart glasses 140, thereby changing the shooting direction of the camera equipped in the smart glasses 140.

[0030] When the adjustment mechanism 130 secures the smart glasses 140, it can use methods including but not limited to clipping or using connectors to secure the smart glasses 140. Of course, the securing method usually has the characteristic of being detachable.

[0031] The calibration elements are configured in conjunction with the adjustment mechanism 130, meaning that at least two calibration elements are arranged around the adjustment mechanism 130. This allows the calibration elements to be positioned in different directions centered on the adjustment mechanism 130, enabling each calibration element to be specifically configured according to the shooting direction of the camera participating in the calibration. For example, if the calibration element is located within the shooting field of view of the corresponding camera, it will be convenient for the camera participating in the calibration to capture the calibration element within its respective shooting field of view.

[0032] For ease of understanding, it will be based on Figure 1 The calibration process is explained using system 10 as an example: Before calibration, Figure 1 In this configuration, the smart glasses 140 are fixed to the adjustment mechanism 130. The smart glasses 140 have three cameras: two eye-tracking cameras (left eye-tracking camera and right eye-tracking camera 142) and a scene camera 141. Calibration can be performed in two stages, with different eye-tracking cameras and scene camera 141 selected for each calibration. For example, the first calibration might include the right eye-tracking camera 142 and scene camera 141, while the second calibration might include the left eye-tracking camera and scene camera 141. Simultaneously, two calibration components are set, namely a first calibration component 110 and a second calibration component 120. Since the scene camera 141 shoots forward (to capture the shooting environment), while the eye-tracking camera shoots backward (to capture the eye), the two calibration components can be positioned in front of and behind the adjustment mechanism 130, respectively. Specifically, the first calibration component 110 can be located within the shooting field of view 1411 of the scene camera, and the second calibration component 120 can be located within the shooting field of view of either the left or right eye-tracking camera 142, depending on the calibration batch. Figure 2 In the diagram, the area enclosed by the dotted line is the shooting field of view 1411 of the scene camera, and the first calibration component 110 is located within this shooting field of view. After completing the above settings, the fixed end of the adjustment mechanism 130, the first calibration component 110, and the second calibration component 120 are guaranteed to be in fixed positions.

[0033] During the calibration process, the adjustment mechanism 130, driven by an external force, moves the smart glasses 140 synchronously. This aims to simultaneously change the shooting direction of the right eye-tracking camera 142 and the scene camera 141. As the shooting direction changes, the positions of the first calibration element 110 and the second calibration element 120 within their respective camera's field of view change. Then, the right eye-tracking camera 142 and the scene camera 141 each take multiple images of the calibration elements. Specifically, each time the positions of the first calibration element 110 and the second calibration element 120 within their respective camera's field of view change to a new position (different from the previous positions), all cameras involved in the calibration form at least one image by photographing the calibration elements. This allows at least two images (referred to as an image set for ease of description) to be formed at each new position. For example... Figure 2 As the shooting direction of the scene camera 141 changes, the position of the scene camera's field of view 1411 also changes, thus causing the position of the first calibration element 110 within the scene camera's field of view 1411 to change from... Figure 2 The center of (a) becomes Figure 2 In the lower right corner of (b), during this process, scene camera 141 can... Figure 2 Take an image at location (a) in China, and then... Figure 2 Take another image at position (b).

[0034] When the position changes multiple times, multiple image groups can be formed, and these multiple image groups are used as image data. By comparing and analyzing the images from different groups in the image data, the calibration parameters of the right eye-tracking camera 142 and the scene camera 141 can be obtained, thereby calibrating the right eye-tracking camera 142 and the scene camera 141. Then, referring to the calibration process of the right eye-tracking camera 142 and the scene camera 141, a second calibration is performed, that is, the calibration of the left eye-tracking camera and the scene camera 141. It should be understood that a processor can be added to run the above-mentioned program parts.

[0035] During the calibration process, when the position of the calibration component changes within the field of view of the corresponding camera, the calibration component should always remain within the field of view of the corresponding camera. This ensures that the calibration component appears completely in the image captured by the camera, avoiding situations where the camera participating in the calibration cannot capture the entire calibration component or cannot capture the calibration component at all.

[0036] During the calibration process, while ensuring that the cameras involved in the calibration capture complete images, the image sharpness must also meet the requirements, meaning that the cameras can obtain clear images when photographing the calibration components. Optionally, when setting the straight-line distance from each calibration component to its corresponding camera, it is necessary to ensure that the distance from each calibration component to its corresponding camera is within the focusing distance of that camera. Simultaneously, during the movement of the smart glasses 140, the distance from each calibration component to its corresponding camera should always remain within the focusing distance of that camera. This ensures that, firstly, the camera can capture relatively clear images in the initial position (i.e., before the adjustment mechanism 130 is activated), and secondly, that relatively clear images can be captured at any time during the entire movement of the smart glasses 140.

[0037] As described above, to achieve calibration, the adjustment mechanism 130 needs to move the smart glasses 140 to adjust the position of each calibration component within the field of view of the corresponding camera. During the movement of the smart glasses 140, the straight-line distance from each calibration component to its corresponding camera along the camera's optical axis may change, which could adversely affect image sharpness. Therefore, the adjustment mechanism 130 can be a rotating mechanism. Specifically, the rotating mechanism's movement is rotational. Therefore, when the rotating mechanism moves the smart glasses 140, it can minimize the linear displacement of the smart glasses 140. For example, the rotating mechanism can simply move the smart glasses 140 in a rotational motion.

[0038] Furthermore, considering that the linear distance between the calibration component and its corresponding camera along the optical axis of the camera may change when the rotating mechanism drives the smart glasses 140 to rotate, this change can be absorbed by the camera's depth of field (affected by the camera's focusing distance, which is typically a range). Specifically, cameras with a wider depth of field can absorb a larger range of changes, thus ensuring good image sharpness, while cameras with a narrower depth of field can only absorb a smaller range of changes. Therefore, when fixing the smart glasses 140 to the rotating mechanism, it is advisable to position the camera with the shortest focusing distance at the rotation center of the mechanism among the cameras involved in the calibration. This ensures that the camera with the shortest focusing distance remains at the rotation center during the calibration process, allowing it to still produce a clear image.

[0039] For example, Figure 1 Eye-tracking cameras are typically macro cameras, while scene cameras (141) usually have a larger focusing distance; therefore, they can... Figure 1 The left or right eye-tracking camera 142 participating in the calibration is located at the rotation center of the rotating mechanism.

[0040] In some possible implementations, please refer to Figure 1The focusing distance of the scene camera 141 of the smart glasses 140 is 500mm to 1000mm. Therefore, when setting the first calibration member 110, the distance between the first calibration member 110 and the scene camera 141 can be a, where 500mm≤a≤1000mm.

[0041] In some possible implementations, please refer to Figure 1 The focusing distance of the eye-tracking camera of the smart glasses 140 is 15mm to 50mm. Therefore, when setting the second calibration member 120, the distance between the second calibration member 120 and the eye-tracking camera can be b, where 15mm≤b≤50mm.

[0042] In some possible implementations, at least two calibration elements are distributed in different directions centered on the adjustment mechanism 130 (i.e., the smart glasses 140), such as on opposite and / or adjacent sides of the adjustment mechanism 130, specifically, as follows: Figure 1 As shown, the first calibration element 110 and the second calibration element 120 are located on opposite sides of the adjustment mechanism 130 to adapt to the shooting directions of the scene camera 141 and the eye-tracking camera, which are positioned one in front of the other. Alternatively, two calibration elements may be distributed on the same side of the adjustment mechanism 130, corresponding one-to-one with the left and right eye-tracking cameras, respectively. Or, one of the three calibration elements and the remaining two may be distributed on opposite sides of the adjustment mechanism, with the remaining two on the same side. In this way, the calibration element distributed on one side corresponds to the scene camera, while the remaining two on the same side correspond one-to-one with the left and right eye-tracking cameras, respectively. This allows the calibration elements to be adapted for multiple cameras. It should be understood that the purpose here is to ensure that the calibration elements are always within the shooting field of view of the corresponding camera.

[0043] In some possible implementations, each calibration element has a plane on which a calibration pattern is arranged. It should be understood that the program section involves processing and analyzing image data; therefore, the calibration pattern should have characteristics that allow it to be easily extracted and identified from the image data. For example, the calibration pattern can be regularly distributed on the plane. Specifically, the calibration pattern can be a grid pattern, which allows the entire plane to be differentiated, so that even slight changes at each location can be reflected through one or more small cells at that location, thereby improving calibration accuracy. Furthermore, the calibration pattern can also be a checkerboard pattern (a pattern with multiple black and white squares), multiple parallel lines, multiple concentric circles, a dot array, or any other pattern capable of differentiating the entire area.

[0044] In some possible implementations, the image data includes multiple frames captured by each camera, with the calibration pattern occupying an area greater than or equal to 50% of each frame. For example... Figure 3As shown, the area occupied by the first calibration element 110 in a frame of image captured by the scene camera 141 is C, and the area of ​​the frame of image captured by the scene camera 141 is D. Therefore, C / D≥50%. This ensures that the area of ​​the first calibration element 110 in the image is relatively clear.

[0045] In some possible implementations, before the smart glasses to be calibrated move, the plane of the calibrator is perpendicular to the optical axis of the camera corresponding to the calibrator, and / or the center of the plane of the calibrator is located on the optical axis of the camera corresponding to the calibrator. This ensures that, in the initial position before the smart glasses 140 begin to move, the calibrator is positioned as close as possible to the center of the camera's field of view, which facilitates the subsequent movement of the camera's field of view around the calibrator when the camera moves.

[0046] In some possible implementations, during the movement of the smart glasses to be calibrated, the plane of the calibration component and the optical axis of the camera corresponding to the calibration component are at an angle A, and 50°≤A≤90°. That is, the position change of the calibration component is as close as possible to the central area of ​​the camera's field of view. This ensures that the camera obtains a complete and clear image of the calibration component when it is photographed, and avoids the calibration component being located at the edge of the camera's field of view, which would lead to a decrease in image quality due to distortion.

[0047] In some possible implementations, when the model of the smart glasses to be calibrated changes, the shooting direction and focusing distance of the camera equipped in the smart glasses may also change. Therefore, the orientation and distance between the calibration component and the camera may also need to be adaptively adjusted so that the system 10 can be adapted to different models of smart glasses to be calibrated. Based on this, the system 10 may include a base 100, on which multiple fixing positions 101 are provided, and the calibration component and / or adjustment mechanism 130 are detachably fixed to suitable fixing positions 101 to meet the orientation and distance requirements. For example Figure 1 In this system, the base 100 has multiple fixing positions 101. After determining the shooting direction and focusing distance of the camera equipped in the smart glasses to be calibrated, the adjustment mechanism 130 can be fixed in a certain fixing position 101. Then, the fixing position 101 for fixing the calibration components is selected according to the orientation and distance, thereby fixing each calibration component to its selected fixing position 101. When different smart glasses to be calibrated are replaced, the positions of the calibration components and / or adjustment mechanism 130 on the base 100 can be changed, and the adjusted calibration components and / or adjustment mechanism 130 can be re-fixed in the new fixing position 101 to meet the orientation and distance requirements.

[0048] In some possible implementations, such as Figure 1 As shown, the calibration component can be a calibration plate, and the aforementioned plane is the surface of the calibration plate.

[0049] In some possible implementations, such as Figure 1 As shown, the calibration component can be fixed to the corresponding fixing position 101 via the connecting rod.

[0050] In some possible implementations, the scene camera can be an RGB camera capable of capturing images in the visible light band of color; the eye-tracking camera can be an infrared camera capable of capturing images in the infrared band.

[0051] Optionally, the rotary mechanism may have at least one degree of freedom, such as two or three degrees of freedom, specifically: Example 1 The rotating mechanism is a two-axis rotating mechanism, meaning that the rotating mechanism can rotate around two mutually perpendicular axes. The two rotation axes of the two-axis rotating mechanism intersect at the rotation center of the two-axis rotating mechanism, which makes it convenient to set the camera with the smallest focusing distance at the rotation center of the two-axis rotating mechanism.

[0052] Example 2 The rotating mechanism is a three-axis rotating mechanism, meaning it can rotate around three mutually perpendicular axes. The three axes of rotation intersect at the rotation center of the three-axis rotating mechanism, which makes it convenient to place the camera with the smallest focusing distance at the rotation center of the two-axis rotating mechanism.

[0053] Example 3 Please refer to Figure 4 The rotating mechanism is a spherical rotating mechanism, which includes a rotating base 131 and a rotating component 132. The base 131 is provided with a concave spherical surface 1312, and the rotating component 132 is provided with a convex spherical surface that mates with the concave spherical surface 1312. The rotating component 132 and the base 131 are fitted together through the spherical surfaces. The top of the rotating component 132 is used to fix the smart glasses to be calibrated, so that the camera with the smallest focusing distance is located at the center of the spherical surface.

[0054] Furthermore, considering that the smart glasses 140 includes two eye-tracking cameras, after one eye-tracking camera completes calibration, the other eye-tracking camera needs to be positioned at the center of the sphere. Therefore, the rotating component 132 can include a rotating base and a plug-in fixing component. The rotating base is provided with two plug-in holes 1311. When the plug-in fixing component is plugged into one of the plug-in holes 1311, one eye-tracking camera of the smart glasses 140 fixed on the top of the plug-in fixing component is located at the center of the sphere. When the plug-in fixing component is plugged into the other plug-in hole 1311, the other eye-tracking camera of the smart glasses 140 fixed on the top of the plug-in fixing component is also located at the center of the sphere. In this way, by changing the position and performing two calibrations, the eye-tracking camera participating in the calibration can always be located at the rotation center (i.e., the center of the sphere) during the calibration process.

[0055] When fixing the smart glasses 140 to the top of the plug-in fastener, the plug-in fastener can have a notch 1321 for accommodating and overlapping the nose pad of the smart glasses 140, and an overlapping groove 1322 for overlapping the crossbeam of the smart glasses 140 at its top. To further improve the reliability of the fixation, the smart glasses 140 can also be fixed with fasteners such as screws.

[0056] Example 4 The rotating mechanism is a robotic arm 133, and the gripper at the end of the robotic arm 133 is used to fix the smart glasses to be calibrated. Specifically, for example... Figure 5 As shown, the robotic arm 133 may include multiple arm segments 1331, and the joints at the connection of adjacent arm segments 1331 may have multiple degrees of freedom. After the smart glasses 140 is fixed to the end, the multi-degree-of-freedom movement of the robotic arm 133 can drive the smart glasses 140 to rotate. For example, it can ensure that the camera with the smallest focusing distance in the smart glasses 140 is always located at the center of rotation.

[0057] The basic principles of this application have been described above with reference to specific embodiments. However, it should be noted that the advantages, benefits, and effects mentioned in this application are merely examples and not limitations, and should not be considered as essential features of each embodiment of this application. Furthermore, the specific details disclosed above are for illustrative and facilitative purposes only, and are not limitations. These details do not limit the application to the necessity of employing the aforementioned specific details for implementation.

[0058] The block diagrams of the devices, apparatuses, devices, and systems 10 involved in this application are merely illustrative examples and are not intended to require or imply that they must be connected, arranged, or configured in the manner shown in the block diagrams. As those skilled in the art will recognize, these devices, apparatuses, devices, and systems 10 can be connected, arranged, and configured in any manner. Words such as “comprising,” “including,” “having,” etc., are open-ended terms meaning “including but not limited to,” and are used interchangeably with them. The terms “or” and “and” as used herein refer to the terms “and / or,” and are used interchangeably with them unless the context clearly indicates otherwise. The term “such as” as used herein refers to the phrase “such as but not limited to,” and is used interchangeably with it.

[0059] It should also be noted that in the apparatus, equipment, and methods of this application, the components or steps can be disassembled and / or recombined. These disassemblies and / or recombinations should be considered as equivalent solutions of this application.

[0060] The above description of the disclosed aspects is provided to enable any person skilled in the art to make or use this application. Various modifications to these aspects will be readily apparent to those skilled in the art, and the general principles defined herein can be applied to other aspects without departing from the scope of this application. Therefore, this application is not intended to be limited to the aspects shown herein, but rather to be accorded the widest scope consistent with the principles and novel features disclosed herein.

[0061] The above description has been given for purposes of illustration and description. Furthermore, this description is not intended to limit the embodiments of this application to the forms disclosed herein. Although numerous exemplary aspects and embodiments have been discussed above, those skilled in the art will recognize certain variations, modifications, alterations, additions, and sub-combinations thereof.

Claims

1. A calibration system for a camera in smart glasses, characterized in that, Includes an adjustment mechanism and at least two calibration elements located around the adjustment mechanism; The adjustment mechanism is used to fix the smart glasses to be calibrated. At least two of the calibration components correspond one-to-one with at least a portion of the cameras in the smart glasses to be calibrated; The adjustment mechanism is driven to move the smart glasses to be calibrated, so as to adjust the shooting direction of at least some of the cameras, so that the position of each calibration element changes within the shooting field of view of the corresponding camera, and the calibration element remains within the shooting field of view of the corresponding camera. The at least partial camera outputs image data, which includes information on the positional changes of each of the calibration elements within the field of view of the corresponding camera.

2. The calibration system for a camera in smart glasses as described in claim 1, characterized in that, The adjustment mechanism is a rotating mechanism, and among the at least some cameras, the camera with the smallest focusing distance is located at the rotation center of the rotating mechanism.

3. The calibration system for a camera in smart glasses as described in claim 1, characterized in that, The number of calibration components is two. The cameras in the smart glasses to be calibrated include an eye-tracking camera and a scene camera. The two calibration components are distributed on opposite sides of the adjustment mechanism, and the two calibration components correspond one-to-one with the eye-tracking camera and the scene camera, respectively.

4. The calibration system for a camera in smart glasses as described in claim 1, characterized in that, During the movement of the smart glasses to be calibrated, the distance from each calibration element to the corresponding camera is within the focusing distance of that camera.

5. The calibration system for a camera in smart glasses as described in claim 4, characterized in that, The system includes two calibration elements, one of which is 500mm to 1000mm away from the corresponding camera, and the other of which is 15mm to 50mm away from the corresponding camera.

6. The calibration system for a camera in smart glasses as described in any one of claims 1 to 5, characterized in that, The calibration component has a plane, on which a calibration pattern is provided; the image data includes multiple frames of images captured by each of the cameras, and the area ratio of the calibration pattern in each frame of the image is greater than or equal to 50%.

7. The calibration system for a camera in smart glasses as described in claim 6, characterized in that, During the movement of the smart glasses to be calibrated, the plane of the calibration component and the optical axis of the corresponding camera have an angle A, and 50°≤A≤90°.

8. The calibration system for a camera in smart glasses as described in claim 6, characterized in that, Before the smart glasses to be calibrated move, the plane of the calibration component is perpendicular to the optical axis of the camera corresponding to the calibration component, and / or the center of the plane of the calibration component is located on the optical axis of the camera corresponding to the calibration component.

9. The calibration system for a camera in smart glasses as described in any one of claims 1 to 5, characterized in that, The system further includes a base, the adjustment mechanism and the at least two calibration elements are respectively disposed on the base, and the base has multiple fixed positions, the adjustment mechanism and / or the calibration elements being able to switch between the multiple fixed positions.

10. The calibration system for a camera in smart glasses as described in claim 2, characterized in that, The rotating mechanism includes: A two-axis rotating mechanism, wherein the two rotation axes of the two-axis rotating mechanism intersect at the rotation center of the two-axis rotating mechanism; Alternatively, a three-axis rotary mechanism, wherein the three axes of rotation of the three-axis rotary mechanism intersect at the rotation center of the three-axis rotary mechanism; Alternatively, a spherical rotation mechanism may be used, comprising a rotating base and a rotating component, wherein the rotating component and the base are fitted together via a spherical surface, and the rotating component is used to fix the smart glasses to be calibrated. Alternatively, a robotic arm, the end of which is used to secure the smart glasses to be calibrated.

Images