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公开(公告)号：US11232594B1
公开(公告)日：2022-01-25
申请号：US17078834
申请日：2020-10-23
申请人： Tobii AB
摘要： The invention is related to a method for calibrating an eye tracking device within a head-mounted display (HMD) comprising the steps of acquiring with the HMD via an image sensor, at least one optical target image from an optical target, wherein the optical target contains image points in a pattern, indexing image points within the optical target image wherein the image points are indexed by, selecting a rigid region of the optical target image, assigning indices to image points within the rigid region, fitting a polynomial approximation function to at least one column and one row of the image points of the region, predicting the location of at least one image point using the fitted polynomial approximation function, assigning the predicted image point an index, inputting indexed image points into an optimization algorithm that calculates a hardware calibration of the HMD, and writing hardware calibration values calculated from the optimization algorithm to the HMD unit.
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公开(公告)号：US11934571B2
公开(公告)日：2024-03-19
申请号：US17039918
申请日：2020-09-30
申请人： Tobii AB
发明人： Pravin Kumar Rana , Gerald Bianchi
CPC分类号： G06F3/013 , G06T7/50 , G06T7/73 , G06T2207/30201
摘要： A system, a head-mounted device, a computer program, a carrier, and a method for a head-mounted device comprising an eye tracking sensor, for updating an eye tracking model in relation to an eye are disclosed. First sensor data in relation to the eye are obtained by means of the eye tracking sensor. After obtaining the first sensor data, the eye tracking sensor is moved in relation to the eye. After moving the eye tracking sensor, second sensor data in relation to the eye are obtained by means of the eye tracking sensor. The eye tracking model in relation to the eye is then updated based on the first sensor data and the second sensor data.
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公开(公告)号：US20230162393A1
公开(公告)日：2023-05-25
申请号：US18159307
申请日：2023-01-25
申请人： Tobii AB
CPC分类号： G06T7/74 , G06F3/013 , G06T2207/30201
摘要： An eye tracking system configured to: receive a plurality of right eye images of a right eye of a user; receive a plurality of left eye images of a left eye of a user, each left eye image corresponding to a right eye image in the plurality of right eye images; detect a pupil and determine an associated pupil signal, for each of the plurality of right eye images and each of the plurality of left eye images; calculate a right eye pupil variation of the pupil signals for the plurality of right eye images and a left eye pupil variation of the pupil signals for the plurality of left eye images; and determine a right eye weighting and a left eye weighting based on the right eye pupil variation and the left eye pupil variation. For one or more right eye images and one or more corresponding left eye images, the eye tracking system can: determine at least one right eye gaze signal based on the right eye image and at least one left eye gaze signal based on the corresponding left eye image; and calculate a combined gaze signal from a weighted sum of the right eye gaze signal and the left eye gaze signal using the right eye weighting and the left eye weighting.
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公开(公告)号：US11249547B2
公开(公告)日：2022-02-15
申请号：US16670483
申请日：2019-10-31
申请人： Tobii AB
发明人： Tiesheng Wang , Gilfredo Remon Salazar , Yimu Wang , Pravin Kumar Rana , Johannes Kron , Mark Ryan , Torbjörn Sundberg
摘要： Images of an eye are captured by a camera. For each of the images, gaze data is obtained and a position of a pupil center is estimated in the image. The gaze data indicates a gaze point and/or gaze direction of the eye when the image was captured. A mapping is calibrated using the obtained gaze data and the estimated positions of the pupil center. The mapping maps positions of the pupil center in images captured by the camera to gaze points at a surface, or to gaze directions. A further image of the eye is captured by the camera. A position of the pupil center is estimated in the further image. Gaze tracking is performed using the calibrated mapping and the estimated position of the pupil center in the further image. These steps may for example be performed at a HMD.
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公开(公告)号：US10288879B1
公开(公告)日：2019-05-14
申请号：US15994550
申请日：2018-05-31
申请人： Tobii AB
发明人： Pravin Kumar Rana , Yimu Wang
摘要： An image of an eye of a user can be received from an image sensor, the image resulting from the image sensor detecting light from one or more illuminators reflected from the eye of the user and reflected from optic arrangements located between the one or more illuminators and the eye of the user, wherein the optic arrangements comprise features having a known pattern. Glints are identified in the image, wherein a glint is a representation in the image of a reflection of light from a cornea of the eye of the user and/or from a feature of the optic arrangements. Relative positions in the image of the identified glints are determined, and on condition that the relative positions conform with the known pattern, at least one glint of the identified glints is identified as a representation in the image of a reflection from a feature of the optic arrangements.
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公开(公告)号：US11681366B2
公开(公告)日：2023-06-20
申请号：US17574979
申请日：2022-01-13
申请人： Tobii AB
发明人： Tiesheng Wang , Gilfredo Remon Salazar , Yimu Wang , Pravin Kumar Rana , Johannes Kron , Mark Ryan , Torbjörn Sundberg
CPC分类号： G06F3/013 , G06V40/19 , G06V40/193
摘要： Images of an eye are captured by a camera. For each of the images, gaze data is obtained and a position of a pupil center is estimated in the image. The gaze data indicates a gaze point and/or gaze direction of the eye when the image was captured. A mapping is calibrated using the obtained gaze data and the estimated positions of the pupil center. The mapping maps positions of the pupil center in images captured by the camera to gaze points at a surface, or to gaze directions. A further image of the eye is captured by the camera. A position of the pupil center is estimated in the further image. Gaze tracking is performed using the calibrated mapping and the estimated position of the pupil center in the further image. These steps may for example be performed at a HMD.
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公开(公告)号：US20220083799A1
公开(公告)日：2022-03-17
申请号：US17459442
申请日：2021-08-27
申请人： Tobii AB
发明人： Viktor Wase , Erik Ljungzell , Mark Ryan , Chiara Giordano , Rickard Lundahl , Pravin Kumar Rana
摘要： An eye tracking system is provided that detects the presence of problematic blobs in an image captured by the system and removes these problematic blobs by switching off illuminators. Problematic blobs may be those obscuring the pupil of the eye of the user. Each blob is detected in a first image by the use of at least one first criterion, and then an illuminator is switched off. After the illuminator is switched off, at least one second criterion is used to identify blobs in a subsequent image. This process may be repeated until the illuminator causing the problematic blob is identified.
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公开(公告)号：US11243607B2
公开(公告)日：2022-02-08
申请号：US16420818
申请日：2019-05-23
申请人： Tobii AB
发明人： Pravin Kumar Rana , Yimu Wang
摘要： A method of identifying scleral reflections in an eye tracking system is disclosed. A glint is identified in an image from an image sensor, wherein the glint is a representation in the image of a reflection of light from a cornea of the eye of the user or from a sclera of the eye of the user. A first pixel intensity of the glint is determined, a second pixel intensity of neighbor pixels of the glint is determined, and an absolute value of the difference between the first pixel intensity of the glint and the second pixel intensity of the neighbor pixels of the glint is determined. The glint is identified as a representation of a reflection from the sclera of the eye of the user on condition that the determined absolute value of the difference is below a predetermine threshold value.
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公开(公告)号：US11823413B2
公开(公告)日：2023-11-21
申请号：US18159307
申请日：2023-01-25
申请人： Tobii AB
CPC分类号： G06T7/74 , G06F3/013 , G06T2207/30201
摘要： An eye tracking system configured to: receive a plurality of right eye images of a right eye of a user; receive a plurality of left eye images of a left eye of a user, each left eye image corresponding to a right eye image in the plurality of right eye images; detect a pupil and determine an associated pupil signal, for each of the plurality of right eye images and each of the plurality of left eye images; calculate a right eye pupil variation of the pupil signals for the plurality of right eye images and a left eye pupil variation of the pupil signals for the plurality of left eye images; and determine a right eye weighting and a left eye weighting based on the right eye pupil variation and the left eye pupil variation. For one or more right eye images and one or more corresponding left eye images, the eye tracking system can: determine at least one right eye gaze signal based on the right eye image and at least one left eye gaze signal based on the corresponding left eye image; and calculate a combined gaze signal from a weighted sum of the right eye gaze signal and the left eye gaze signal using the right eye weighting and the left eye weighting.
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公开(公告)号：US11556006B2
公开(公告)日：2023-01-17
申请号：US16666025
申请日：2019-10-28
申请人： Tobii AB
发明人： Yimu Wang , Ylva Björk , Joakim Zachrisson , Pravin Kumar Rana
IPC分类号： G02B27/01
摘要： Disclosed is a method for detecting a shadow in an image of an eye region of a user wearing a Head Mounted Device, HMD. The method comprises obtaining, from a camera of the HMD, an image of the eye region of the user wearing a HMD and determining an area of interest in the image, the area of interest comprising a plurality of subareas. The method further comprises determining a first brightness level for a first subarea of the plurality of subareas and determining a second brightness level for a second subarea of the plurality of subareas. The method further comprises comparing the first brightness level with the second brightness level, and, based on the comparing, selectively generating a signal indicating a shadow.
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