Systems and methods for calibrating an eye tracking system

A method comprising:

• while a person's head is at a first orientation and the person's eye is gazing at a point in a 3D space, obtaining a first relative orientation of the eye with respect to a first imaging sensor, and obtaining a first set of images by a second imaging sensor of a first pair of points in the 3D space;
• while the head is at a second orientation rotationally offset from the first orientation and the eye is gazing at the point, obtaining a second relative orientation of the eye with respect to the first imaging sensor, and obtaining a second set of images by the second imaging sensor of the first pair of points and a first set of images by the second imaging sensor of a second pair of points in the 3D space;
• while the head is at a third orientation rotationally offset from the second orientation about an axis along the second relative orientation of the eye and the eye is gazing at the point, obtaining a second set of images by the second imaging sensor of the second pair of points;
• determining a relative orientation of the first imaging sensor and the second imaging sensor based on the first relative orientation of the eye with respect to the first imaging sensor, the second relative orientation of the eye with respect to the first imaging sensor, the first set of images of the first pair of points, the second set of images of the first pair of points, the first set of images of the second pair of points, and the second set of images of the second pair of points.

A method comprising:

• while a person's head is at a first orientation and the person's eye is gazing at a first point in a 3D space, obtaining a first relative orientation of the eye with respect to a first imaging sensor, and obtaining a first set of images by a second imaging sensor of a first pair of points in the 3D space;
• while the head is at a second orientation rotationally offset from the first orientation and the eye is gazing at the first point, obtaining a second relative orientation of the eye with respect to the first imaging sensor, and obtaining a second set of images by the second imaging sensor of the first pair of points;
• while the head is at a third orientation and the eye is gazing at a second point in the 3D space, obtaining a third relative orientation of the eye with respect to the first imaging sensor, and obtaining a first set of images by the second imaging sensor of a second pair of points in the 3D space;
• while the head is at a fourth orientation rotationally offset from the third orientation and the eye is gazing at the second point, obtaining a fourth relative orientation of the eye with respect to the first imaging sensor, and obtaining a second set of images by the second imaging sensor of the second pair of points;
• determining a relative orientation of the first imaging sensor with respect to the second imaging sensor based on the first relative orientation of the eye with respect to the first imaging sensor, the second relative orientation of the eye with respect to the first imaging sensor, the third relative orientation of the eye with respect to the first imaging sensor, the fourth relative orientation of the eye with respect to the first imaging sensor, the first set of images of the first pair of points, the second set of images of the first pair of points, the first set of images of the second pair of points, and the second set of images of the second pair of points.