CN-121999523-A - Eye movement tracking device and eye movement tracking equipment

CN121999523ACN 121999523 ACN121999523 ACN 121999523ACN-121999523-A

Abstract

The application provides an eye movement tracking device and eye movement tracking equipment, and relates to the technical field of eye movement tracking. The device comprises an infrared stripe projection module, an image acquisition module, a data processing module and an eye tracking module. The system comprises an infrared stripe projection module, an image acquisition module, a phase deflection algorithm module, a data processing module and an eye tracking module, wherein the infrared stripe projection module projects an infrared stripe pattern onto the surface of a target eyeball, the image acquisition module is arranged in an optical coplanar mode with the projection module and acquires the infrared stripe image reflected by the surface of the target eyeball to obtain a cornea stripe image, the phase deflection algorithm module in the data processing module is connected with the image acquisition module and carries out phase demodulation on the cornea stripe image to obtain three-dimensional shape data representing the actual physical shape of the surface of the target eyeball, and the eye tracking module is connected with the data processing module and determines the visual axis direction of the eyeball based on the space geometrical property of the three-dimensional shape data. The application combines the infrared stripe projection and the phase deflection operation, reduces the dependence on discrete characteristic points, and realizes high-precision tracking in a large angle range.

Inventors

PAN CHENG
WANG HAO

Assignees

广东虹勤通讯技术有限公司

Dates

Publication Date: 20260508
Application Date: 20251225

Claims (10)

1. The eye movement tracking device is characterized by comprising an infrared stripe projection module, an image acquisition module, a data processing module and an eye movement tracking module, wherein: The infrared stripe projection module is used for projecting an infrared stripe pattern to the surface of a target eyeball; the image acquisition module is arranged in an optical coplanar mode with the infrared stripe projection module and is used for acquiring an infrared stripe image reflected by the surface of the target eyeball to obtain a cornea stripe image; The data processing module comprises a phase deflection algorithm module which is electrically connected with the image acquisition module and is used for carrying out phase demodulation on the cornea fringe image so as to obtain three-dimensional morphology data representing the actual physical shape of the surface of the target eyeball; The eye tracking module is electrically connected with the data processing module and is used for determining the visual axis direction of the target eyeball based on the space geometrical property of the three-dimensional morphology data, wherein the eye tracking module is configured to be independent of any discrete and fixed-position characteristic points extracted from the cornea fringe image or the three-dimensional morphology data in the process of determining the visual axis direction.
2. The eye tracking device according to claim 1, wherein the infrared fringe projection module comprises: an infrared light source unit for emitting infrared light; the digital micro-mirror device unit is arranged on a light-emitting light path of the infrared light source unit and is used for carrying out spatial modulation on the infrared light so as to generate a dynamically-changed infrared stripe pattern; And the projection optical unit is used for projecting the infrared stripe pattern to the surface of the target eyeball.
3. The eye tracking device according to claim 2, wherein the infrared fringe projection module has an operating wavelength of 850nm or 940nm.
4. The eye tracking device according to claim 2, wherein the phase deviation algorithm module, when configured to phase demodulate the corneal fringe image to obtain three-dimensional topography data characterizing the actual physical shape of the target eyeball surface, is specifically configured to: Processing the cornea fringe image by adopting a phase deflection algorithm to obtain absolute phase distribution corresponding to the cornea surface of the target eyeball; Reconstructing three-dimensional morphology data representing the actual physical shape of the surface of the target eyeball according to the absolute phase distribution based on pre-calibrated system parameters for establishing a mapping relation between the phase distribution and the three-dimensional morphology, wherein the three-dimensional morphology data are continuous three-dimensional point cloud, altitude field or normal vector field of the surface of the target eyeball.
5. The eye tracking device according to claim 1, wherein the data processing module further comprises: The space geometrical property extraction module is electrically connected with the phase deflection algorithm module and is used for processing the three-dimensional morphology data to extract or fit the space geometrical property which is used for the eye movement tracking module to perform visual axis calculation and represents the space shape of the cornea of the target eyeball.
6. The eye tracking device of claim 5, wherein the eye tracking module comprises: The initial visual axis resolving unit is electrically connected with the space geometric attribute extracting module and is used for determining the visual axis direction of a single frame based on the space geometric attribute extracted by the space geometric attribute extracting module; The state smoothing and filtering unit is used for carrying out filtering processing on the continuous visual axis direction output by the initial visual axis resolving unit and outputting the smoothed visual axis direction and corresponding state estimation; and the track prediction unit is used for predicting the change track of the visual axis direction based on the state estimation.
7. The eye tracking device of claim 1 wherein the image acquisition module is a monocular infrared camera.
8. The eye-tracking device according to any one of claims 1 to 7, further comprising: And in the calibration mode, controlling the infrared stripe projection module to work cooperatively with the image acquisition module to acquire images of preset calibration objects with known three-dimensional shapes, and generating calibration parameters based on the acquired images, wherein the calibration parameters are used for carrying out parameter compensation on measurement results in the eye tracking process.
9. The eye-tracking device according to any one of claims 1 to 7, further comprising: The eye positioning device is used for fixing the position of a target eyeball in the eye movement tracking process and comprises a support frame and a positioning clamping assembly which is arranged on the support frame and used for contacting and fixing the eyeball, and the positioning clamping assembly is configured to be capable of adjusting the pitch angle and the azimuth angle of the fixed eyeball.
10. An eye-tracking device, characterized in that an eye-tracking apparatus according to any one of claims 1 to 9 is integrated.

Description

Eye movement tracking device and eye movement tracking equipment Technical Field The application relates to the technical field of eye movement tracking, in particular to an eye movement tracking device and eye movement tracking equipment. Background Eye movement tracking technology is a key for realizing efficient man-machine interaction and behavior cognitive analysis. In the fields of Virtual Reality (VR), augmented Reality (Augmented Reality, AR) glasses, an automobile driver monitoring system (Driver Monitoring System, DMS), psychological research and the like, more natural interaction experience, safety state assessment and cognitive rule insight can be realized by accurately acquiring the gazing direction and focus of a user. However, ensuring that high accuracy and high robustness gaze tracking can still be achieved under non-ideal conditions such as free movement of the user's head, large angular rotation of the eyeball, etc., is always a core challenge facing this field. In the related art, an eye tracking scheme based on a pupil-cornea reflection (Pupil Center Corneal Reflection, abbreviated as PCCR) method is generally adopted. The scheme is characterized in that a plurality of (such as 2-6) near infrared point light sources are arranged around eyes, the light sources can generate a plurality of stable cornea reflection bright spots (Glints) on the cornea surface of an eyeball, meanwhile, a camera is utilized to capture images of the bright spots and the center of a pupil at the same time, and the three-dimensional direction of the sight line is calculated by analyzing the relative geometric relation between the characteristic spots (the bright spots and the center of the pupil) and relying on a spherical optical model which approximates the cornea to a fixed curvature radius. But tracking accuracy can be significantly degraded or even disabled at large angles of view. Disclosure of Invention The application provides an eye movement tracking device and eye movement tracking equipment, which are used for solving the problem that the tracking precision of an eye movement tracking scheme in the related technology is obviously reduced or even disabled during large-angle watching. In a first aspect, the application provides an eye tracking device, comprising an infrared stripe projection module, an image acquisition module, a data processing module and an eye tracking module, wherein: The infrared stripe projection module is used for projecting an infrared stripe pattern to the surface of a target eyeball; the image acquisition module is arranged in an optical coplanar mode with the infrared stripe projection module and is used for acquiring an infrared stripe image reflected by the surface of the target eyeball to obtain a cornea stripe image; The data processing module comprises a phase deflection algorithm module, and the phase deflection algorithm module is electrically connected with the image acquisition module and is used for carrying out phase demodulation on the cornea stripe image so as to obtain three-dimensional morphology data representing the actual physical shape of the surface of the target eyeball; The eye movement tracking module is electrically connected with the data processing module and is used for determining the visual axis direction of the target eyeball based on the space geometrical property of the three-dimensional morphology data, wherein the eye movement tracking module is configured to be independent of any discrete and fixed-position characteristic points extracted from cornea fringe images or the three-dimensional morphology data in the process of determining the visual axis direction. In one possible implementation, the infrared stripe projection module comprises an infrared light source unit, a digital micro-mirror device unit and a projection optical unit, wherein the infrared light source unit is used for emitting infrared light, the digital micro-mirror device unit is arranged on an emergent light path of the infrared light source unit and used for carrying out spatial modulation on the infrared light to generate a dynamic change infrared stripe pattern, and the projection optical unit is used for projecting the infrared stripe pattern to the surface of a target eyeball. In one possible implementation, the operating wavelength of the infrared stripe projection module is 850nm or 940nm. In a possible implementation manner, the phase deviation algorithm module is used for carrying out phase demodulation on the cornea fringe image to obtain three-dimensional morphology data representing the actual physical shape of the surface of the target eyeball, and is particularly used for processing the cornea fringe image by adopting the phase deviation algorithm to obtain absolute phase distribution corresponding to the cornea surface of the target eyeball, reconstructing the three-dimensional morphology data representing the actual physical shape of the surface of the targe