Method of determining the spatial relationship of an eye of a person with respect to a camera device

1. A method of determining the spatial relationship of an eye of a person with respect to a camera device which provides images of the eye, the method comprising:

in a model acquisition phase:

constructing a three-dimensional shaped customized model of the eye representing the surface of the eye and having texture information associated with a plurality of points located on the surface of the eye, the texture information stored as a feature template map including three-dimensional model coordinates of a plurality of reference image points at which eye features are located, and the feature template map having templates containing parts of the reference image extracted around each associated point and showing the corresponding eye feature,

determining a reference spatial relationship of the eye model with respect to the camera device using a reference image of the eye, and

aligning the eye shaped model to the reference image of the eye; and in a tracking phase:

determining position and/or rotation coordinates of the eye by aligning the eye model to a current image of the eye, and

performing:

a) a template matching step in which, for a plurality of feature templates stored in the feature template map, a region in the current eye image bearing the largest resemblance to the respective feature template is searched;

b) a coordinate determination step in which the coordinates of the regions found in step a) are determined as respective current feature positions; and

c) an alignment step in which an image distance between the current feature positions determined in step b) and the positions of the corresponding three-dimensional model features projected into the current eye image is minimized by fitting position and/or rotation parameters of the eye model.

2. The method according to claim 1 , in which the three-dimensional eye shape model comprises a superposition of two ellipsoids, one of which represents the globe and the other of which represents the cornea.

3. The method according to claim 2 , in which at least one of the two ellipsoids is a sphere.

4. The method according to claim 1 , in which the three-dimensional eye shape model comprises a wire mesh structure of connected points.

5. The method according to claim 1 , in which the three-dimensional eye shape model comprises a plurality of points defined by linear combinations of shape eigenvectors.

6. The method according to claim 1 , in which the reference spatial relationship of the eye shape model with respect to the camera device is obtained by applying a purkinje analysis to the reference image of the eye based on corneal reflexes of illumination sources located at predefined positions relative to the camera device.

7. The method according to claim 1 , in which the reference spatial relationship of the eye shape model with respect to the camera device is obtained by assuming that the person is fixating at a fixed position in space previously defined relative to the camera device.

8. The method according to claim 1 , in which the features are selected from the group consisting of blood vessels, iris features, limbus, limbus centre, pupil centre, pupil edge and artificial markers.

9. The method according to claim 1 , in which the three-dimensional model coordinates of a point are obtained by detecting the corresponding eye feature in the reference image of the eye and intersecting a projecting ray of the eye feature with the aligned eye shape model.

10. The method according to claim 1 , in which, for each feature template stored in the feature template map, the search conducted during the template matching step is limited to a predefined zone of the current eye image around the feature position determined in a previous coordinate determination step.

11. The method according to claim 1 , in which the tracking phase is continuously repeated in regular time intervals.

12. The method according to claim 1 , further comprising determining a spatial relationship of the person's eye with respect to a surgical device based on a previously determined spatial relationship of the camera device with respect to the surgical device.

13. The method according to claim 1 , further comprising determining internal degrees of freedom of the eye model selected from the group consisting of relative movements of eye model features, scaling of the whole eye model, scaling of eye model features, deformations of the whole eye model, deformations of eye model features and appearance changes due to illumination influences.

14. A method of determining the spatial relationship of an eye of a person with respect to a camera device which provides images of the eye, the method comprising:

in a model acquisition phase:

constructing a three-dimensional eye shaped customized model of the eye representing the surface of the eye and having texture information associated with a plurality of points located on the surface of the eye, the texture information is stored as a grey value map including: three-dimensional model coordinates of a plurality of previously defined reference image points; and grey values extracted from the reference image at each of the points,

determining a reference spatial relationship of the eye model with respect to the camera device using a reference image of the eye, and

aligning the eye shaped model to the reference image of the eye; and in a tracking phase:

determining position and/or rotation coordinates of the eye by aligning the eye model to a current image of the eye.

15. The method according to claim 14 , in which the three-dimensional model coordinates of a point are obtained by intersecting a projecting ray of the reference image point with the aligned eye shape model.

16. The method according to claim 14 , in which the tracking phase comprises an alignment step in which the total grey value difference between the current eye image and the grey value map projected into the current eye image is minimized by fitting orientation and/or rotation parameters of the eye model.

17. The method according to claim 14 in which the tracking phase is continuously repeated in regular time intervals.

18. The method according to claim 14 , further comprising determining a spatial relationship of the person's eye with respect to a surgical device based on a previously determined spatial relationship of the camera device with respect to the surgical device.

19. The method according to claim 14 , further comprising determining internal degrees of freedom of the eye model selected from the group consisting of relative movements of eye model features, scaling of the whole eye model, scaling of eye model features, deformations of the whole eye model, deformations of eye model features and appearance changes due to illumination influences.

20. A computer program, comprising:

computer program code which, when executed on a computer connected to a camera device, enables the computer to carry out a method including:

in a model acquisition phase:

constructing a three-dimensional shaped customized model of the eye representing the surface of the eye and having texture information associated with a plurality of points located on the surface of the eye, the texture information stored as a feature template map including three-dimensional model coordinates of a plurality of reference image points at which eye features are located, and the feature template map having templates containing parts of the reference image extracted around each associated point and showing the corresponding eye feature,

determining a reference spatial relationship of the eye model with respect to the camera device using a reference image of the eye, and

aligning the eye shaped model to the reference image of the eye; and in a tracking phase:

determining position and/or rotation coordinates of the eye by aligning the eye model to a current image of the eye, and

performing:

a) a template matching step in which, for a plurality of feature templates stored in the feature template map, a region in the current eye image bearing the largest resemblance to the respective feature template is searched;

b) a coordinate determination step in which the coordinates of the regions found in step a) are determined as respective current feature positions; and

c) an alignment step in which an image distance between the current feature positions determined in step b) and the positions of the corresponding three-dimensional model features projected into the current eye image is minimized by fitting position and/or rotation parameters of the eye model.

21. A computer program, comprising computer program code which, when executed on a computer connected to a camera device, enables the computer to carry out a method including:

in a model acquisition phase:

constructing a three-dimensional eye shaped customized model of the eye representing the surface of the eye and having texture information associated with a plurality of points located on the surface of the eye, the texture information is stored as a grey value map including: three-dimensional model coordinates of a plurality of previously defined reference image points and grey values extracted from the reference image at each of the points,

determining a reference spatial relationship of the eye model with respect to the camera device using a reference image of the eye, and

aligning the eye shaped model to the reference image of the eye; and in a tracking phase:

determining position and/or rotation coordinates of the eye by aligning the eye model to a current image of the eye.