172 results about "Visual axis" patented technology

The invention belongs to the technical field of space remote sensing surveying and mapping, and particularly relates to a monitoring system and method for a front and rear view visual axis included angle and absolute direction of a surveying and mapping camera. The method comprises the following steps: S1, through side sway of a satellite platform, taking a time for sky imaging calibration as a reference time; s2, calculating a rotation matrix from a front and rear view ground camera measurement coordinate system to a star camera coordinate system at a reference moment; s3, calculating respective thermal deformation matrixes of the star camera coordinate system, the front-view camera measurement coordinate system and the rear-view camera measurement coordinate system; s4, obtaining a real-time rotation matrix from the measurement coordinate system of the front-view camera to the coordinate system of the star camera and a real-time rotation matrix from the measurement coordinate system of the rear-view camera to the coordinate system of the star camera at the measurement moment; and S5, carrying out arc cosine calculation on the two absolute pointing vectors to obtain a visual axis included angle between the front-view camera and the rear-view camera at the measurement moment. According to the invention, while the geometric accuracy of the surveying and mapping camera is ensured, the real-time performance of measurement and the comprehensiveness of subsystem monitoring are realized at the same time.

The application discloses a rotating mirror type binocular vision laser tracking light break recovery system and method. The system comprises a rotating mirror type laser tracker and a binocular vision module, two cameras in the binocular vision module are symmetrically installed on both sides of a laser beam, and camera visual axes and a laser optical axis are reflected to a working area through a rotating mirror of the tracker. The method comprises the following steps: a virtual imaging plane model in which the camera visual axes and the laser optical axis are coincident is constructed in advance; after the light break occurs, an infrared illumination light source of a vision system is modulated, frame difference images of modulation wave crests and troughs are acquired and processed, a current position of a target mirror and a predicted light break recovery rotation angle are obtained, and error compensation is performed on the current position and the predicted light break recovery rotation angle; and corresponding motors are driven to rotate according to the compensated light break recovery rotation angle, so that the laser beam is re-aligned to the target mirror. The application reduces the coaxial installation difficulty of a vision system of a rotating mirror type laser tracker, and improves the target mirror recognition rate and the light break recovery servo angle accuracy in a large range of complex environments.

The invention provides a fitting method of a 3D eye model and electronic equipment, and aims to improve the accuracy of the eye model. Comprising the following steps: in response to an eye model fitting instruction, obtaining eye images obtained when eyes of a user watch fixation points at different positions; obtaining eyeball parameters of the user by using the image position coordinates of the pupil center of the user in each eye image and the standard visual axis vector corresponding to each eye image; obtaining a current eyeball rotation angle based on the eyeball parameters of the user and the image position coordinates of the pupil center in the current eye image every specified duration; according to the current eyeball rotation angle and the eyeball parameters, current eyeball model parameters are obtained, and the eyeball model parameters comprise the position vector of the eyeball center, the position vector of the pupil center, the position vector of the curvature center and the visual axis vector; and updating a preset initial eye model by using the current eyeball model parameters of the user to obtain a current 3D eye model of the user.

The invention provides an eye movement tracking method, a control unit and eye movement tracking equipment, and relates to the technical field of eye movement tracking. The method comprises the steps of obtaining a surface image of a target eyeball; extracting composite phase distribution from the surface image, wherein the composite phase distribution represents phase coupling information after the incident light is jointly modulated by a cornea interface and a crystalline lens interface of the target eyeball; based on eyeball geometric constraint and cornea interface smoothness prior, according to the composite phase distribution, constructing a decoupling objective function with separation of cornea phase distribution and crystalline lens phase distribution as a target; taking a minimum decoupling objective function as an optimization objective, and iteratively determining cornea phase distribution decoupled from crystalline lens phase distribution; and determining the visual axis direction of the target eyeball according to the cornea phase distribution. Through the double-interface phase decoupling technology, the visual axis error in a large view field and eyeball depth motion scene is effectively reduced, and the eye movement tracking precision is remarkably improved.

The invention discloses an attitude control method and system for continuously locking a ground target by an unmanned aerial vehicle, and the method comprises the steps: obtaining a target position and an unmanned aerial vehicle attitude data stream, carrying out the coordinate transformation to generate a target attitude relation identifier, and carrying out the deviation vector decomposition to form a visual axis deviation feature set; disassembling the image into a fast and slow response chain through attitude mapping processing, repairing a fracture node, constructing an attitude correction track, extracting a control feature mode, generating a response feature factor, and constructing an attitude compensation constraint matrix; frequency domain decomposition and cross coupling calculation are carried out on the optical axis deviation feature set to determine the coupling correlation degree, and a superposition disturbance sequence is identified and dynamically reconstructed to generate a compensation gain sequence; executing stability evaluation to determine time sequence distribution, identifying abnormal disturbance characteristics and extracting key moment control characteristics; the constraint matrix and the gain sequence are fused to generate a fusion control law, a dynamic priority control coefficient is determined, a target continuous locking attitude control instruction is output, and continuous and stable locking of the moving target is achieved.

The invention discloses a method and a system for improving the tracking performance of a photoelectric pod by using a fast reflector. Belongs to the technical field of photoelectric pod control. Comprising the following steps: constructing a dual-channel tracking control system, adding a fast reflector tracking channel, forming a decoupling dual-channel with an original servo frame channel, and cooperatively realizing dynamic tracking control of a target image; target miss distance information output by the image tracker is obtained, and visual axis deviation angles of the target in the horizontal X-axis direction and the vertical Y-axis direction are calculated respectively; dividing a visual axis deviation angle into a small-amplitude high-frequency signal or a large-amplitude low-frequency signal by taking the maximum swing angle capability of the fast reflector as a threshold value; when the visual axis deviation angle is a small-amplitude high-frequency signal, the fast reflecting mirror executes a tracking compensation function, and the servo frame mechanism performs follow-up compensation so as to expand the stroke of the fast reflecting mirror; and when the visual axis deviation angle is a large-amplitude low-frequency signal, the fast reflecting mirror is kept in the middle position, and target tracking control is independently completed by a servo frame channel.

Methods to trigger eye enrollment without requiring good gaze interaction are described that allow a guest user of a device to initiate partial or full eye enrollment even though their eye model is not known and thus conventional gaze-based interactions do not work well. A gaze tracking system collects gaze data in the background. At any time (or within an interval after a user puts on the device), an eye enrollment can be triggered by detecting some gaze gesture, for example rolling the eyes in a large circle, or moving the eyes randomly for a time that exceeds a threshold. Depending on the coverage of the gaze / cornea data collected in the background, a full eye enrollment or only a visual axis enrollment may be performed in response to the gesture.

The invention provides a multi-mode composite stability control method for a three-degree-of-freedom photoelectric servo turntable, which comprises the following steps of: using gyroscope information, combined inertial navigation information and image feature information; through composite control of multiple modes such as carrier angle disturbance negative feedback, carrier linear motion translation compensation and evaluation and compensation of errors from image feature information, the limitation of a single-mode control method is effectively overcome, the advantages of each single-mode control method are fully played, performance complementation is realized, and the system performance is improved. And the precision of optical axis stability of the photoelectric detector is improved. According to the method, when a single data source fails, the high-precision stability of the optical television shaft can still be kept, the robustness of servo stability and the adaptability to a complex dynamic environment are improved, and the method conforms to the development direction of photoelectric intellectualization.

The invention relates to the technical field of precision optical control, in particular to a sum-difference mode cooperative control double-actuator visual axis stable imaging method and system, and the method comprises the steps: calculating a sum mode variable and a difference mode variable between the angular velocity information of a first actuator and the angular velocity information of a second actuator; performing inverse mode transformation on the two mode variables to obtain independent control commands for respectively controlling the first actuator and the second actuator; the two independent control commands are correspondingly input into the first actuator and the second actuator after being processed through a control algorithm based on data driving. The ultra-high precision of the two actuators is effectively combined, stable control over the optical axis of the optical imaging system is achieved, and the imaging definition and stability of the optical imaging system in the disturbance environment are remarkably improved.

The invention provides a visual axis stable video generation method and device based on dynamic fuzzy integration, and the method comprises the steps: collecting inertial pointing data of a servo system in an inertial stability model, and reading a gray value of an initial scene image as a reference frame; performing interpolation processing on the acquired azimuth angle, pitch angle and roll angle data to generate a high-density pointing angle sequence, and calculating azimuth stability precision and pitch stability precision; reversely rotating the reference frame to generate imaging slices, superposing all corresponding imaging slices pixel by pixel in single-frame exposure time, and normalizing a result; and overlapping character information including a field angle, stability precision and an imaging parameter on each frame of image to generate a visual axis stabilization effect video file. In the embodiment of the invention, the visual axis stability precision effect video is generated according to the pointing data and the imaging sensor parameters, the intuition of stability precision effect display in a design stage can be improved, and the dependence of a servo system on an optoelectronic equipment image link in a physical test stage is reduced.

A projector having a curved field lens and a displaced light modulating display. The system includes at least one light source configured to generate colored light beams, and a prism routing the light beams to the display. The curved field lens is coupled to a face of the prism, and the prism and curved field lens together decenter the light beam from the prism face and uniformly illuminate the display. A center of the display is displaced from the projection lens optical axis. The decentered light beam and the displaced display together generate a favorable shifted boresight of the created image. Dimensions of components of the projector are a function of a curvature of the curved field lens. The greater the curvature of the curved field lens, the smaller the dimensions of the components and the overall projector. The projector may be used in eyewear.

The application discloses a disturbance suppression device and method based on FPGA frequency rapid identification, and belongs to the technical field of tracking control. The device comprises a disturbance tilting mirror, a control tilting mirror, a target, an image sensor and a parallel filtering frequency identification module based on FPGA. When the device is running, the laser emitted by the target is reflected to the control tilting mirror via the disturbance tilting mirror, and then is reflected to the image sensor by the control tilting mirror. The image sensor provides the boresight error. The parallel filtering frequency identification module based on FPGA identifies the time-varying multi-frequency narrow-band disturbance of the boresight error. Then, the control algorithm of the control system containing the error observer calculates the deflection amount of the control tilting mirror. The deflection of the control tilting mirror is driven based on the deflection amount, so that the light beam is kept at the optical axis target position. The disturbance tilting mirror is used to simulate the time-varying multi-frequency narrow-band disturbance from the optical link. The application realizes the rapid and accurate capture of the disturbance characteristics under the condition of time-varying multi-frequency narrow-band disturbance.

The invention provides a near-eye optical display system and optical display equipment. The near-eye optical display system comprises a first lens group, a second lens group, a display screen, a light splitting element, a phase delayer and a polarization reflector, wherein the first lens group, the second lens group and the display screen are arranged along an optical axis; the near-eye optical display system comprises at least three lenses, the first lens group comprises at least two lenses, the focal power of at least one lens is positive, and the focal power of at least one lens is negative; the second lens group comprises at least one lens and the focal power is positive; the light splitting element is arranged on the surface, close to the display screen, of one lens; the near-eye optical display system further comprises an eyeball tracking assembly which comprises at least one camera and a plurality of LED lamps, and the eyeball tracking assembly is arranged on one side of the surface of the lens where the light splitting element is located and corresponds to a plurality of areas on the edge of the lens. Wherein the included angle between the position of the camera and the visual axis of the human eyes is not more than 40 degrees, and the included angle between the position of any LED lamp and the visual axis of the human eyes is also not more than 40 degrees.

The application discloses a hotspot target tracking method and device based on load detection and star sensitivity reset, and belongs to the field of spacecraft attitude control. The method comprises the following steps: according to the time scale of load target detection information and historical load visual axis ground pointing point information, the latitude, longitude and altitude information of the target are estimated; according to the maximum attitude maneuvering ability of the system and the five-order polynomial guide model, the fastest time of target recapture is determined by taking time as an iteration amount, the target attitude of the target recapture process is autonomously planned, and closed-loop control is carried out; after the target recapture, the control system carries out closed-loop control according to the real-time detection information of the load, ensures that the target is located at the center of the visual field of the load, and the load continuously images; after the tracking imaging is completed, the guide process of returning to scanning imaging is autonomously planned; in the whole process, the current attitude is reset according to the double-vector attitude determination result of the high-precision star sensitive sensor with angular velocity as a constraint, so that the pointing accuracy is ensured.

The invention belongs to the technical field of ophthalmic optics, and relates to a design method of a personalized spectacle lens and the spectacle lens. The design method comprises the following steps: constructing a spectacle-eye joint mathematical model based on spectacle frame posture and eyeball rotation, and analyzing and calculating the mathematical model to obtain a theoretical diopter calculation formula of the lens surface under prescription diopter; based on the basic eye model, according to the prescription diopter, the posture of the spectacle frame, and the central diopters, refractive indexes and central thicknesses of the inner and outer surfaces of the lenses, constructing a lens-eye system comprising the lenses to be optimized and eye models with different rotation angles; calculating the actual diopter of the surface of the to-be-optimized lens based on the intersection point of the human eye visual axis of the eye model with different rotation angles and the surface of the to-be-optimized lens; taking the minimum absolute value of the difference between the actual diopter and the theoretical diopter of the surface of the to-be-optimized lens as a target, ensuring the imaging quality and machinability of the lens, and optimizing the parameters of the inner surface of the to-be-optimized lens to obtain the personalized spectacle lens considering the posture of the spectacle frame and the rotation of the eyeball.

The invention relates to the technical field of optical monitoring, in particular to a compact airborne double-optical-axis monitoring system which is integrated with a fine tracking detection light path, a visual axis detection light path and an optical axis monitoring light path. The compact airborne double-optical-axis monitoring system comprises a window mirror, a fast reflecting mirror, a first spectroscope, a first reflecting mirror, a light path folding module, a fine tracking filtering switching assembly and a fine tracking module which are sequentially arranged in the light path direction. The optical axis receiving module and the optical axis transmitting module precisely track the detection light path and completely coincide with the section, from the window mirror to the light path folding module, of the optical axis detection light path; the optical axis monitoring light path and the fine tracking detection light path completely coincide from the first spectroscope to the fine tracking module. According to the invention, detection of a precise tracking target, detection of a visual axis target and monitoring of an optical axis are integrated, optical element multiplexing among all optical paths is realized through introduction of the optical path folding module, and the number of optical elements and the total volume and weight of the system are significantly reduced.

The invention discloses an image motion compensation method based on a grooved cam, and the method comprises the steps: firstly, determining the target angular velocity of a plane mirror based on the input angular velocity, carrying out the interval division of a compensation period, setting an extension path, a far stop, a return path and a near stop, and carrying out the image motion compensation of an imaging system during the exposure integration period, an equal-acceleration section, a constant-speed section and an equal-deceleration section are arranged in the extending stroke section; then, obtaining a matching relation between the exposure integral time of the camera and a constant-speed extending stroke section according to different internal and external trigger modes; secondly, constructing a lift function to determine a cam profile, generating a cam theoretical pitch curve, and performing normal equidistant correction to obtain an actual groove profile; and finally, obtaining a direct mapping relation between the rotating speed of the plane mirror and the rotating speed of the groove cam through a mechanism motion transmission relation, so that a visual axis which is output in an exposure period and is opposite to an image motion direction is slightly deflected to restrain the image motion. The method is high in real-time performance, does not need complex control, and is good in compensation synchronism and repeatability.

The present application relates to the field of processing measurement technology, and more particularly to a kind of automatic measurement method and system for engine box class part machining aperture.The method includes the following steps: obtaining original aperture image;Using local gradient sliding window to locate initial edge point set, determining the tilt angle of viewing axis and the deflection azimuth angle of major axis based on fitting method, to realize the independent separation of the two;Using the deflection azimuth angle of major axis to construct rotation relationship to obtain spindle alignment point set;Using the tilt angle of viewing axis to carry out projection transformation to obtain orthogonal projection point set;Based on the tilt angle of viewing axis, determine the local object distance drift of each edge pixel point, and then determine the non-uniform magnification correction gain, carry out numerical compensation restoration on orthogonal projection point set, to obtain the final machining aperture size;Output compensation signal to drive machine tool compensation actuator to adjust tool offset value.The present application solves the non-uniform magnification distortion problem caused by probe rod droop, and realizes the true value restoration of space light field.

In general, one aspect disclosed features a lens comprising: a central zone having an optical center corresponding to the visual axis of an eye of a patient; and a peripheral zone peripheral to the central zone and comprising: a first zone having a first thickness, and a second zone having a second thickness, wherein: the second thickness varies from the first thickness, and a distance from the second zone to the optical center of the central zone is selected to generate pincushion distortion or barrel distortion in the eye of the patient.

The present application relates to the field of optical machine adjustment, and particularly relates to a kind of single-photon laser ranging system's visual axis collimator adjustment method, first 45 ° reflector and second 45 ° reflector are sequentially adjusted to the preset position on tooling bottom plate, and the normal relationship of one face of first 45 ° reflector, second 45 ° reflector and high-precision autocollimator is calibrated;Single-photon laser emission end and single-photon laser receiving end are respectively adjusted to the preset position on the ranging system bottom plate, the normal relationship of reference surface of single-photon laser emission end and single-photon laser receiving end and high-precision autocollimator is calibrated, and the normal relationship of the other face of first 45 ° reflector, second 45 ° reflector and high-precision autocollimator is calibrated.The optical machine adjustment method can reach the adjustment accuracy requirement of single-photon laser ranging system.

The invention discloses a photoelectric turret visual axis stability control method based on self-adaptive disturbance prediction compensation and a computer product, and the method comprises the following steps: S1, establishing a gyro speed loop discrete model, calculating the deviation between the output of the model and the angular velocity of a visual axis measured by a gyro, and obtaining a disturbance estimation value through an inverse model and a low-pass filter; s2, constructing a mathematical model of disturbance based on a recursive least square method, and performing multi-step forward prediction on equivalent disturbance by using the model; and S3, carrying out weighted fusion on the predicted equivalent disturbance and the real-time disturbance estimation value, and finally feeding a fused compensation signal forward to the input end of the control system to counteract the influence of the actual disturbance on the system. According to the method, real-time estimation and dynamic prediction are fused, the learning-prediction capacity is added on the basis of perception-compensation of a traditional DOB, the method is suitable for a photoelectric turret control system which is remarkable in periodic disturbance or sensitive to delay, phase lag of the traditional DOB is reduced, and the stable control bandwidth and disturbance rejection capacity of a visual axis are greatly improved.

The present disclosure allows for accurate and computationally efficient gaze tracking without requiring a corneal reflection. Eye tracking systems and methods are provided. They include obtaining images of the user's face, detecting a head pose, and locating the centre eye rotation, the pupil centre, the optical axis, the cornea centre and finally the visual axis corresponding to the gaze direction using user-specific parameters. Calibration systems and methods are also provided for acquiring the user-specific parameters. They include at least twice displaying a target point for the user to glaze at, directing light to obtain a corneal reflection, obtaining an image of the user's face, detecting the head pose, inferring a transformation to convert coordinates between the world coordinate system and a head coordinate system, and locating the corneal reflection, the cornea centre, the pupil centres and the optical axes. The data acquired thereby is used to compute the parameters.

The application provides a high-precision calibration method, device and equipment for mapping camera interior orientation elements and a storage medium. The method comprises the following steps: firstly, using a collimator and an electronic theodolite to independently calibrate the rotary table angle positioning error and the parallel light tube optical axis pointing deviation, respectively, to generate an error correction model and a space angle matrix, and converting the device system error into a known quantity that can be compensated; secondly, using a positive and negative mirror center-finding method to iteratively converge to determine the accurate intersection point of the sight axis and the target surface as the main point initial observation value and the sight axis reference angle, and eliminating the uncertainty of the main point; finally, starting from the reference angle to perform full field scanning and collection, and jointly substituting the corrected angle data, the angle matrix and the main point observation value into the collinearity condition equation for overall adjustment solution, so that the interior orientation elements and the distortion parameters purely reflecting the characteristics of the camera itself are solved under the premise that various system errors have been stripped one by one.

Methods and apparatus are configures to measure an eye without contacting the eye with a patient interface, and these measurements are used to determine alignment and placement of the incisions when the patient interface contacts the eye. The pre-contact locations of one or more structures of the eye can be used to determine corresponding post-contact locations of the one or more optical structures of the eye when the patient interface has contacted the eye, such that the laser incisions are placed at locations that promote normal vision of the eye. The incisions are positioned in relation to the pre-contact optical structures of the eye, such as an astigmatic treatment axis, nodal points of the eye, and visual axis of the eye.

The invention discloses a multispectral imaging-based fundus lesion early screening device and a detection method, particularly relates to the technical field of multispectral fundus imaging, and is used for solving the problems of inconsistent calibers among multispectral fundus data wavebands and insufficient cross-session comparability in a real screening scene. Multi-group perturbation acquisition of light source driving, exposure gain and visual axis offset is adopted in the same inspection session, and waveband identification, acquisition parameters and session identification are bound for each waveband frame, so that layered solution is performed on an illumination field, system response and medium scattering based on endogenous spectrum anchor point constraint, and aperture unification and uncertainty gating are completed accordingly. Therefore, comparable and traceable multispectral features can still be obtained under non-mydriasis, field disturbance and cross-batch conditions, and early lesion screening misjudgment and missed judgment caused by imaging condition drift are reduced.

The application discloses a wireless intelligent iris system, which comprises a controller and an electronic corneal contact lens located on the visual axis, and the controller is wirelessly connected with the electronic corneal contact lens. The controller comprises a light intensity sensor, a microprocessor and a wireless energy emission module. The electronic corneal contact lens comprises a wireless energy receiving module, a ring-shaped transparency adjustable diaphragm and a corneal contact lens front base and back base for encapsulating the wireless energy receiving module and the transparency adjustable diaphragm. The light intensity sensor on the controller converts the environmental light intensity into an electric signal and transmits the electric signal to the microprocessor. The microprocessor controls the electric energy to act on the specific diaphragm through the wireless energy emission module and the wireless energy receiving module on the electronic corneal contact lens, thereby independently controlling the visible light transmittance of each layer of diaphragm. When the transparency of the diaphragm gradually changes and expands from the inner circle to the outer circle, the light entering the eye can be adjusted, thereby improving the vision and visual comfort.

The present application belongs to the technical field of space geometry measurement, and particularly relates to a virtual multi-view six-degree-of-freedom pose measurement method, medium and system. The pose information of a cooperative target located in a combined field of view is obtained through coaxial cameras and a prism; a virtual camera is formed by rotating the prism; a coordinate system is established; target rotation representation is performed; a first rotation matrix is estimated; a virtual camera visual axis and a visual axis included angle are determined; a second rotation matrix is determined; a rotation error cost function is established; the rotation matrix and the rotation error cost function are represented by a quaternion; multi-rotation information fusion is performed; an exit point and an exit light vector of the prism are determined; feature point coordinates of the cooperative target are represented; determined object-side residuals are determined; an object-side residual cost function is constructed; and translation information fusion is performed. Compared with the prior art, the present application solves the problem that existing six-degree-of-freedom pose measurement devices are susceptible to noise, and the method proposed in the present scheme effectively improves measurement accuracy, adaptability and stability.

The application discloses a single-probe compound-axis tracking method based on two-stage unloading and feedforward, and belongs to the technical field of laser communication.The method is based on the collaborative control of two-stage unloading and inverse model feedforward, and under the premise that the coarse-fine gazing-axis coordinate relationship does not need to be accurately modeled, the dynamic coordination and control decoupling between the coarse-fine gazing axes are realized, the closed-loop instability problem caused by the saturation of the fine stage can be effectively relieved, and a feasible control solution is provided for realizing a lightweight, high-performance free-space laser communication platform.

The technical scheme of the invention discloses a sight line positioning method and device and a terminal equipment control method, and the method comprises the steps: emitting detection light to the outside through a light-emitting element of terminal equipment; collecting the face image of the user through a camera included in the terminal equipment, wherein the face image at least comprises a left eye light spot feature, a right eye light spot feature, a left eye feature, a right eye feature and a face feature; determining a virtual space including a user model and a terminal equipment model according to the left eye light spot feature, the right eye light spot feature, the left eye feature and the right eye feature in combination with the facial feature; and determining a visual axis model of the user according to the spatial positions of the left eye model and the right eye model in the virtual space. The sight line position positioning method provided by the invention has higher precision, and the calculated amount is simplified in some steps.