Eye center of rotation determination with one or more eye tracking cameras

1. A display system configured to project light to an eye of a user to display virtual image content in a vision field of the user, the display system comprising:

a frame configured to be supported on a head of the user;

a head-mounted display disposed on the frame, the display configured to project light into the user's eye to display virtual image content to the user's vision field;

one or more eye tracking cameras configured to image the user's eye;

a plurality of light emitters; and

processing electronics in communication with the display and the one or more eye tracking cameras, the processing electronics configured to:

receive images of the user's eye captured by the one or more eye tracking cameras, glint reflections of the different light emitters observable in the images of the eye captured by the one or more eye tracking cameras; and

estimate a location of a center of rotation of the user's eye based on locations of the glint reflections in the images produced by the one or more eye tracking cameras and based on the locations of the one or more eye tracking cameras and the locations of the light emitters that produced the glint reflections for multiple eye poses.

2. The display system of claim 1 , wherein to obtain an estimate of the center of rotation of the eye, the processing electronics are configured to:

determine a plurality of estimates of a center of corneal curvature of the user's eye based a plurality of glint reflections for multiple eye poses; and

determine the estimate of the center of rotation of the user's eye based on the plurality of estimates of the center of corneal curvature of the user's eye for the multiple eye poses.

3. The display system of claim 2 , wherein to determine the plurality of estimates of the corneal curvature of the user's eye, the processing electronics are configured to:

determine a first direction toward the center of corneal curvature based on the respective locations of at least a portion of the plurality of light emitters and one of the one or more eye tracking cameras;

determine a second direction toward the center of corneal curvature based on the respective locations of at least a portion of the plurality of emitters and one of the one or more eye tracking cameras; and

determine an estimate of the center of corneal curvature of the user's eye based on the first and the second directions.

4. The display system of claim 3 , wherein the processing electronics is configured to determine the first direction by:

defining a first plane that includes one of the one or more eye tracking cameras, a location of a first glint reflection and a location of the light emitter corresponding to the first glint reflection;

defining a second plane that includes one of the one or more eye tracking cameras, a location of a second glint reflection and a location of the light emitter corresponding to the second glint reflection; and

determining a region of convergence of the first plane and the second plane, the region of convergence extending along the first direction.

5. The display system of claim 4 , the processing electronics are configured to determine the second direction by:

defining a third plane that includes one of the one or more eye tracking cameras, the location of a third glint reflection, and a location of the light emitter corresponding to the third glint reflection;

defining a fourth plane that includes one of the one or more eye tracking cameras, the location of a fourth glint reflection, and a location of the light emitter corresponding to the fourth glint reflection; and

determining a region of convergence of the third plane and the fourth plane, the region of convergence extending along the second direction.

6. The display system of claim 3 , wherein to determine the plurality of estimates of the corneal curvature of the user's eye, the processing electronics are configured to:

determine a region of convergence between the first direction and second direction to determine an estimate of the center of corneal curvature of the user's eye.

7. The display system of claim 2 , wherein to determine the plurality of estimates of the corneal curvature of the user's eye, the processing electronics are configured to:

determine a first direction toward the center of corneal curvature based on the respective locations of at least a portion of the plurality of emitters and a first camera of the one or more eye tracking cameras;

determine a second direction toward the center of corneal curvature based on the respective locations of at least a portion of the plurality of emitters and a second camera of the one or more eye tracking cameras; and

determine an estimate of the center of corneal curvature of the user's eye based on the first and second directions.

8. The display system of claim 7 , wherein the processing electronics is configured to determine the first direction by:

defining a first plane that includes the first camera, a location of a first glint reflection and a location of the light emitter corresponding to the first glint reflection;

defining a second plane that includes the first camera, a location of a second glint reflection and a location of the light emitter corresponding to the second glint reflection; and

determining a region of convergence of the first plane and the second plane, the region of convergence extending along the first direction.

9. The display system of claim 8 , the processing electronics are configured to determine the second direction by:

defining a third plane that includes the second camera, the location of a third glint reflection, and a location of the light emitter corresponding to the third glint reflection;

defining a fourth plane that includes the second camera, the location of a fourth glint reflection, and a location of the light emitter corresponding to the fourth glint reflection; and

determining a region of convergence of the third plane and the fourth plane, the region of convergence extending along the second direction.

10. The display system of claim 2 , wherein to obtain an estimate of the center of rotation of the eye, the processing electronics are configured to:

generate a three-dimensional surface associated with the plurality of estimates of the center of the corneal curvature; and

determine the estimate of the center of rotation of the user's eye based on the three-dimensional surface.

11. The display system of claim 10 , wherein to generate a three-dimensional surface associated with the plurality of estimates of the center of the corneal curvature, the processing electronics are configured to fit a surface to the plurality of estimates of the center of the corneal curvature.

12. The display system of claim 10 , wherein to generate a three-dimensional surface associated with the plurality of estimates of the center of the corneal curvature, the processing electronics are configured to fit a spherical surface to the plurality of estimates of the center of the corneal curvature.

13. The display system of claim 10 , wherein to determine the estimate of the center of rotation of the user's eye, the processing electronics are configured to:

determine two or more normals to the three-dimensional surface; and

determine a region of convergence of the two or more normals,

wherein the region of convergence comprises the estimate of the center of rotation of the user's eye.

14. The display system of claim 1 , wherein the one or more images of the user's eye comprise one or more images associated with different gaze vectors of the user's eye.

15. The display system of claim 1 , wherein the processing electronics are configured to map the cornea of the user's eye using a gaze target.

16. The display system of claim 1 , wherein the processing electronics is configured to use a render camera to render virtual images to be presented to the eye of the user, the render camera having a position determined by the center of rotation.

17. The display system of claim 1 , wherein the display is configured to project light into the user's eye to display virtual image content to the user's vision field at different amounts of at least one of divergence and collimation and thus the displayed virtual image content appears to originate from different depths.