Patent ID: 8957948
Filing Date: 2015-02-17
Classification: G02B,H04N

Abstract:
1. A method for calibrating a frame worn by a wearer containing an exo-camera directed to a display that is not worn by the wearer and a first and a second endo-camera, each directed to an eye of the wearer, comprising: a processor collecting data related to a projection of an image with a plurality of calibration points on the display with a known set of 3D coordinates in coordinates of the exo-camera directed to the display and in coordinates of the endo-camera as an exo-endo pair; the processor optimizing a relative pose of the exo-endo pair as a set of rotation and translation parameters which minimizes an error criterion; the processor estimating parameters of a geometric model of the eye while a gaze by the eye in an unobstructed manner focuses on a known location on the display; the processor minimizing a gaze projection error on the display with regard to a known ground truth; and the processor determining a relative transformation between an endo-camera coordinate system and an exo-camera coordinate system; and wherein the relative transformation is expressed as: wherein R t p p