CN103079651B - The sensing treatment device of moving ball and method and use the virtual golf ball analogue means of these apparatus and method - Google Patents

The sensing treatment device of moving ball and method and use the virtual golf ball analogue means of these apparatus and method Download PDF

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Publication number
CN103079651B
CN103079651B CN201180041833.7A CN201180041833A CN103079651B CN 103079651 B CN103079651 B CN 103079651B CN 201180041833 A CN201180041833 A CN 201180041833A CN 103079651 B CN103079651 B CN 103079651B
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image
ball
point
radiation direction
ball image
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CN103079651A (en
Inventor
金元一
金禜赞
禹昌宪
韩民水
李太华
崔铭善
政在旭
姜身
李乘禹
朴韩光
金螟禹
金庸禹
许成麴
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Golfzon Co Ltd
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Golfzon Co Ltd
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Priority claimed from KR1020100062200A external-priority patent/KR101019902B1/en
Priority claimed from KR1020100062207A external-priority patent/KR101019829B1/en
Application filed by Golfzon Co Ltd filed Critical Golfzon Co Ltd
Publication of CN103079651A publication Critical patent/CN103079651A/en
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    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
    • A63B71/00—Games or sports accessories not covered in groups A63B1/00 - A63B69/00
    • A63B71/06—Indicating or scoring devices for games or players, or for other sports activities
    • A63B71/0619—Displays, user interfaces and indicating devices, specially adapted for sport equipment, e.g. display mounted on treadmills
    • A63B71/0622—Visual, audio or audio-visual systems for entertaining, instructing or motivating the user
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
    • A63B69/00—Training appliances or apparatus for special sports
    • A63B69/36—Training appliances or apparatus for special sports for golf
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/60—Analysis of geometric attributes
    • G06T7/66—Analysis of geometric attributes of image moments or centre of gravity
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/70—Determining position or orientation of objects or cameras
    • G06T7/73—Determining position or orientation of objects or cameras using feature-based methods
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
    • H04N23/56—Cameras or camera modules comprising electronic image sensors; Control thereof provided with illuminating means
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
    • H04N23/90—Arrangement of cameras or camera modules, e.g. multiple cameras in TV studios or sports stadiums
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
    • A63B71/00—Games or sports accessories not covered in groups A63B1/00 - A63B69/00
    • A63B71/06—Indicating or scoring devices for games or players, or for other sports activities
    • A63B71/0619—Displays, user interfaces and indicating devices, specially adapted for sport equipment, e.g. display mounted on treadmills
    • A63B71/0622—Visual, audio or audio-visual systems for entertaining, instructing or motivating the user
    • A63B2071/0636—3D visualisation
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
    • A63B71/00—Games or sports accessories not covered in groups A63B1/00 - A63B69/00
    • A63B71/06—Indicating or scoring devices for games or players, or for other sports activities
    • A63B71/0619—Displays, user interfaces and indicating devices, specially adapted for sport equipment, e.g. display mounted on treadmills
    • A63B71/0622—Visual, audio or audio-visual systems for entertaining, instructing or motivating the user
    • A63B2071/0638—Displaying moving images of recorded environment, e.g. virtual environment
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
    • A63B71/00—Games or sports accessories not covered in groups A63B1/00 - A63B69/00
    • A63B71/06—Indicating or scoring devices for games or players, or for other sports activities
    • A63B71/0619—Displays, user interfaces and indicating devices, specially adapted for sport equipment, e.g. display mounted on treadmills
    • A63B2071/0647—Visualisation of executed movements
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
    • A63B2220/00—Measuring of physical parameters relating to sporting activity
    • A63B2220/05—Image processing for measuring physical parameters
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
    • A63B2220/00—Measuring of physical parameters relating to sporting activity
    • A63B2220/10—Positions
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
    • A63B2220/00—Measuring of physical parameters relating to sporting activity
    • A63B2220/30—Speed
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
    • A63B2220/00—Measuring of physical parameters relating to sporting activity
    • A63B2220/80—Special sensors, transducers or devices therefor
    • A63B2220/806—Video cameras
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2207/00—Indexing scheme for image analysis or image enhancement
    • G06T2207/30—Subject of image; Context of image processing
    • G06T2207/30241—Trajectory

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  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • Health & Medical Sciences (AREA)
  • General Health & Medical Sciences (AREA)
  • Physical Education & Sports Medicine (AREA)
  • Multimedia (AREA)
  • Signal Processing (AREA)
  • Computer Vision & Pattern Recognition (AREA)
  • General Physics & Mathematics (AREA)
  • Theoretical Computer Science (AREA)
  • Geometry (AREA)
  • Human Computer Interaction (AREA)
  • Length Measuring Devices By Optical Means (AREA)
  • Image Analysis (AREA)

Abstract

The invention discloses a kind of sensing treatment device and method of moving ball, although low-quality image obtained by low resolution and low speed camera system and flash lamp device, the sensing treatment device of this moving ball disclosed in this invention and method accurately can obtain the coordinate of the central point at the ball image of sub-pixel-level in this image obtained, thus achieve high sense process performance and the sensing degree of accuracy with low cost, and the invention also discloses the virtual golf ball analogue means using said apparatus and method.

Description

The sensing treatment device of moving ball and method and use the virtual golf ball analogue means of these apparatus and method
Technical field
The present invention relates to a kind of sensing treatment device of moving ball and the virtual golf ball analogue means of method and use said apparatus and method, and particularly relate to a kind of sensing treatment device and method of moving ball, it obtains and analyzes the image of the moving balls such as such as golf, to obtain its physical message, and relate to a kind of virtual golf ball analogue means using said apparatus and method.
Background technology
In the most in recent years, the form that the various devices developed allow user to play with interactive physical enjoyed popular physical game by simulation in indoor or locality, such as: baseball, football, basketball and golf etc.
In order to use ball such as baseball, football, basketball and golf etc. to simulate sports in the game of this interactive physical, large quantity research is carried out to various sensing system, so that the physical message of sensing movement ball exactly, that is, the movement of this ball.
Such as, such as use the sensing system of infrared ray sensor, use the sensing system of laser sensor, use the sensing system of sonic transducer and use the various sensing systems such as the sensing system of camera sensor all to enter market.
Summary of the invention
Technical problem
The object of this invention is to provide a kind of sensing treatment device and method of moving ball, although low-quality image obtained by low resolution and low speed camera system and flash lamp device, the sensing treatment device of this moving ball disclosed in this invention and method accurately can obtain the coordinate of the central point at the ball image of sub-pixel-level in this image obtained, thus achieve high sense process performance and the sensing degree of accuracy with low cost, and the invention also discloses the virtual golf ball analogue means using said apparatus and method.
The scheme of dealing with problems
According to an aspect of the present invention, above and other object can realize by providing sensing treatment device, to obtain under predetermined illumination condition and to analyze the image of moving ball, this sensing treatment device comprises: a radiation direction estimating apparatus, analyze obtained the ball image of image from this and estimation towards the direction of the light of this moving ball; And an image processing apparatus, along this radiation direction estimated based on the radiation side of this ball image this ball image is installed to spherical in, to obtain the coordinate of the central point of the image that this is put into.
According to a further aspect in the invention, a kind of sensing treatment device is provided, to obtain under predetermined illumination condition and to analyze the image of moving ball, this sensing treatment device comprises: half circular mounting device, form the radius curve of predetermined diameter or the diameter measured by this ball image based on the radiation direction estimated by this radiation direction estimating apparatus in the specific location of this ball image, and be arranged on the semicircle on this radius curve opposite based on this diameter; And a coordinate extraction element, extract the coordinate of this semicircular central point installing ball image.
According to a further aspect in the invention, a kind of sense process method is provided, to obtain under predetermined illumination condition and to analyze the image of moving ball, this sense process method comprises: analyze the ball image of the image obtained from this with the direction of estimation towards the light of this moving ball; Along this radiation direction estimated based on the radiation side of this ball image this ball image is arranged on spherical in; And extract the coordinate of central point of image of this installation.
According to a further aspect in the invention, provide a kind of virtual golf ball analogue means, comprise: a sensor unit, this sensor unit comprises a camera system and a flash lamp device, to obtain the multiple-exposure image of the Mobile golf hit by golfer; One sense process unit, this sense process unit comprises a radiation direction estimating apparatus, to extract and to analyze the image of the golf of the image obtained from this, and estimate the direction of the light launched towards golf from this flash lamp device, and an image processing apparatus, along the radiation side of this radiation direction estimated based on this golf image, this golf image is arranged in golf shape, and extracts the coordinate of the central point of this installation diagram picture; And a simulator, calculate the change of the coordinate of this central point, and obtain the physical message relevant with this Mobile golf, thus simulate the track of this golf.
Beneficial effect of the present invention
According to the present invention as above, in a kind of sensing treatment device of moving ball and the virtual golf ball analogue means of method and use said apparatus and method, although low-quality image obtained by low resolution and low speed camera system and flash lamp device, the sensing treatment device of moving ball disclosed in this invention and method can obtain the coordinate of the central point at the ball image of sub-pixel-level in this image obtained.Therefore, the present invention has the effect to achieve high sense process performance and the sensing degree of accuracy with low cost, and the invention also discloses the virtual golf ball analogue means using said apparatus and method.
Accompanying drawing explanation
Detailed description by carrying out below in conjunction with accompanying drawing is clearly understood by above and other objects of the present invention, feature and other advantage, wherein:
Fig. 1 is the block diagram shown according to the sensing treatment device in one embodiment of the invention or virtual golf ball analogue means;
Fig. 2 is the view of the embodiment of display screen golf system, and sensing treatment device wherein shown in Figure 1 or virtual golf ball analogue means are applied to this screen golf system;
Fig. 3 is the view of display according to the operation signal scheme of camera system in one embodiment of the invention and flash lamp device, will by the image of sensing treatment device process to obtain;
The view of the picture pattern of Fig. 4 (a) and Fig. 4 (b) ball that to be display obtained by screen golf system shown in figure 2;
Fig. 5 (a) is the actual view with the example of the image of the pattern of display in Fig. 4 (a) obtained of display, and Fig. 5 (b) is the view of the image of the preliminary treatment of the image shown in display Fig. 5 (a);
Fig. 6 is the zoomed-in view of the image of display in the Fig. 5 (b) arranged under the state of multiple picture overlap, which show ball image zooming-out process;
Fig. 7 (a) to Fig. 7 (c) is the view that the principle of installing ball image is described, wherein, Fig. 7 (a) is the view of display ball image; Fig. 7 (b) is the view of the wrong installation example of this ball image of display; And Fig. 7 (c) is the view that display uses the installation example of this ball image of erecting device of the present invention;
Fig. 8 (a) is the view that the image of background is removed in display, and Fig. 8 (b) is the zoomed-in view of the region A of display Fig. 8 (a);
Fig. 9 (a) is the view of the image that display obtains with the image that low-level carries out display in image procossing Fig. 8 (a), and Fig. 9 (b) is the zoomed-in view of the region B of display Fig. 9 (a);
Figure 10 (a) is the view of the image that display obtains with the image that high level carries out display in image procossing Fig. 8 (a), and Figure 10 (b) is the zoomed-in view of the region C of display Figure 10 (a);
Figure 11 (a) is the view showing the image obtained by extracting high-high brightness point in the image from the middle display of Figure 10 (b), and Figure 11 (b) is that display is by being applied to the view of the image shown in Fig. 9 (a) and the image obtained by this high-high brightness point;
Figure 12 (a) is that display performs the view of line sweep process to the high-high brightness point of this ball image; Figure 12 (b) is the view of the image that display obtains as the result of this line sweep; And Figure 12 (c) is that display is by being applied to the view of the line sweep result shown in Figure 12 (b) and the image obtained by average filter;
Figure 13 illustrates that light points to the view of the estimation of ball image direction;
Figure 14 is the view of the axis of the radiation direction that the radiation direction estimating apparatus of the sensing treatment device that display shows on ball image according to the present invention is estimated;
Figure 15 is the view of the process of the diameter of the ball image shown in display measurement Fig. 9 (b);
Figure 16, Figure 17 (a) and Figure 17 (b) are the process of ball image is installed in display views according to the radiation direction estimated;
The view of Figure 18 image that to be display obtain by extracting central point in the ball image installed from installation process shown in Figure 17 (a) and Figure 17 (b);
Figure 19 and Figure 20 is the flow chart of display according to each embodiment of sense process method in the present invention; And
Figure 21 is the flow chart showing the ball image installation process shown in Figure 19 and Figure 20 in greater detail.
Detailed description of the invention
Referring now to accompanying drawing, the exemplary embodiment according to the sensing treatment device of moving ball of the present invention and the virtual golf ball analogue means of method and use said apparatus and method is described in more detail.
Sensing treatment device for moving ball according to the present invention may be used on all systems, and this system uses the sports of ball to sense as the image of the state of moving ball in golf by obtaining and analyzing.In one embodiment, sensing treatment device can be applied to so-called screen golf system, and wherein virtual golf ball analogue means is applied to this screen golf ball system.
Fig. 1 and Fig. 2 schematically show according in embodiments of the invention for the sensing treatment device of moving ball and the structure of virtual golf ball analogue means using said apparatus.
First, with reference to Fig. 1 and Fig. 2 describe according in embodiments of the invention for the sensing treatment device of moving ball and use the virtual golf ball analogue means of said apparatus.
As shown in Figure 1, the present invention relates to a kind of sensing treatment device 220, for the treatment of the image that the sensor unit by including camera system 310 and 320, flash lamp device 330 and signal generation unit 210 obtains, to process the image of ball, thus extract the coordinate of central point.Preferably, preliminary treatment device 230, image acquiring apparatus 240, radiation direction estimating apparatus 250 and image processing apparatus 260 is comprised according to the sensing treatment device 220 in one embodiment of the invention.
First this sensor unit is described.There is provided camera system 310 and 320, to obtain the multiple pictures relevant with the movement of the ball from original position movement respectively on the moving direction of this ball.
In FIG, provide two camera systems 310 and 320, but the present invention is not limited to this.Such as, a camera system can be provided or more than two camera systems.
Flash lamp device 330 is the lighting devices using light emitting diode (LED).This flash lamp device 330 is used as the light source of camera system shooting.Flash lamp device 330 produces flash lamp with predetermined time interval (that is, multiple flash of light produces with predetermined time interval), makes camera system 310 and 320 can take multiple-exposure image.
That is, ball comes across on the picture taken by this camera system, to respond the number of times from dodging the flash of light that device for flashlight 330 of turning off the light generates, to provide its multiple-exposure image.
The operation of camera system 310 and 320 and flash lamp device 330 will be described in further detail below.
Meanwhile, the triggering signal for operating camera system 310 and 320 and flash lamp device 330 generated by signal generation unit 210.According to the present invention, the multiple-exposure image captured by camera system 310 and 320 and flash lamp device 330 is processed by sensing treatment device 220 and is sent to simulator 100.
There is provided the radiation direction estimating apparatus 250 according to sensing treatment device in embodiments of the invention 220, to extract the high-high brightness point of ball image, thus estimation is through the radiation direction of the flash lamp of this high-high brightness point.Radiation direction estimating apparatus 250 comprises Luminance Analysis device (not shown) and scanning means (not shown), will be described below in greater detail below to it.
Simultaneously, there is provided image processing apparatus 260 with based on the side profile of ball image, ball image is arranged on spherical in, the light wherein launched according to the radiation direction estimated by radiation direction estimating apparatus 250 is radiated this ball image, thus extracts the coordinate of the central point of installation diagram picture.
Namely, image processing apparatus 260 preferably includes: semicircle erecting device 270, with form predetermined diameter or on the ad-hoc location of ball image by the radius curve of the diameter of ball image measurement, and be arranged on the semicircle on radius curve opposite according to this diameter; And coordinate extraction element 280, to extract the coordinate of the central point being provided with semicircular ball image, will be described below in greater detail it below.
When the value by this ball image measurement is used as the diameter of radius curve, this sensing treatment device preferably further comprises diameter measuring device, to measure the diameter of this ball image.
Meanwhile, provide preliminary treatment device 230, removed the background image and the noise that do not comprise ball image in this multiple-exposure image obtained by this sensor unit by predetermined operation.
There is provided image acquiring apparatus 240, so that extract ball image (more specifically, to extract by the image estimated for ball, i.e. ball image candidate) from the image by preliminary treatment device 230 preliminary treatment.Relative to the ball image extracted by image acquiring apparatus 240, the estimation performing radiation direction in the ball image performed by radiation direction estimating apparatus 250 and the installation of ball image performed by image processing apparatus 260.
Meanwhile, simulator 100 preferably includes controller M, database 110, graphics processing unit 120 and image output unit 130.
Controller M receive carried out image procossing and the coordinate information of the moving ball obtained by sensing treatment device 220, convert this coordinate information to three-dimensional coordinate, calculate the change of the coordinate of moving ball in three dimensions, obtain the predetermined physical information of the moving track of this ball simulation and by the physical message that obtains be sent to graphics processing unit 120.
The tentation data of the moving track simulation of this ball can be extracted from database 110, and simulates by the moving track of graphics processing unit 120 pairs of balls the image procossing that carries out and can be performed by the extraction view data be stored in database 110.
Meanwhile, conversion equipment can be provided dividually with controller M, so that convert the coordinate information of the moving ball transmitted from this sensing treatment device 220 to three-dimensional coordinate.
At hardware aspect, preliminary treatment device 230, image acquiring apparatus 240, radiation direction estimating apparatus 250 and image processing apparatus 260 can be implemented as Single Controller, be configured to the function performing said apparatus, or be embodied as independent controller, be configured to the function performing said apparatus respectively.In software, preliminary treatment device 230, image acquiring apparatus 240, radiation direction estimating apparatus 250 and image processing apparatus 260 can be implemented as single program, be configured to the function performing said apparatus, or be embodied as independent program, be configured to the function performing said apparatus respectively.
Fig. 2 shows a kind of example of screen golf ball system, and this sensing treatment device or this virtual golf ball analogue means wherein with above-mentioned structure are applied to this screen golf ball system.
As shown in Figure 2, there is the percussion pad 30 of the golf tee placing golf thereon, ground (preferably include from alley pad, coarse pad and sand pit pad select at least one) and rocker 20, be provided in the side place of golf separate room B, wherein on rocker 20, golfer hits golf.
Screen 40 is provided at the front place of golf separate room B, and the virtual golf ball analog image display wherein realized by image output unit 130 on the screen 40.Camera system 310 and 320 and flash lamp device 330 are provided in the ceiling place of golf separate room B.
In fig. 2, camera system 310 and 320 is respectively provided in ceiling and the wall place of golf separate room B, but the present invention is not limited to this.As long as camera system 310 and 320 does not interfere with the swing of golfer, and the golf preventing itself and golfer from hitting while camera system 310 and 320 can take the image of the mobile status of golf 10 effectively bumps against, camera system 310 and 320 can be arranged on any position of golf separate room B.
In addition, in fig. 2, flash lamp device 330 is arranged on the ceiling place of golf separate room B, and to provide the flash lamp being basically perpendicular to striking point, but the present invention is not limited to this.As long as flash lamp device 330 can provide flash lamp effectively, flash lamp device 330 can be arranged on any position of golf separate room B.
When the golfer on rocker 20 hits the golf 10 on percussion pad 30 towards the screen 40 in the system with above-mentioned structure, as shown in Figure 2, take the camera system 310 and 320 carrying out the presumptive area of hitting and take multiple picture respectively.Now, flash lamp device 330 produces several flash of light in each picture, to obtain the multiple-exposure image of the golf of this movement.
Fig. 3 is that display generates the view of scheme by the camera system of signal generation unit 210 (with reference to figure 1) and the triggering signal of flash lamp device.
As shown in Figure 3, the triggering signal of this camera system has time interval tc.That is, for each picture, triggering signal generates with time interval tc.Now, the time for exposure of each picture is te (now, preferably tc>te).In addition, the view data that obtains preferably is sent to sensing treatment device 220 (with reference to figure 1) the tc-te time.
That is, as shown in Figure 3, for each picture, camera system triggers with the interval between the triggering signal rise time, and the data on the multiple-exposure image obtained are sent to sensing treatment device.
In period time for exposure (time te) of this camera system, flash lamp is generated for several times by flash lamp device.In figure 3, flash lamp triggering signal generates three times with time interval tsl.
That is, in period time for exposure (time te) of this camera system, flash lamp tsl and generate three times in the same time interval.Now, camera system and flash lamp device be synchronous with signal generation unit 210 (with reference to figure 1) preferably, to generate the first triggering signal.
In addition, as shown in Figure 3, time interval ts2 is preferably provided between the triggering signal of last in these three flash lamps and the first flash lamp of next picture.Time interval tsl and time interval ts2 can be set as being equal to each other.But as shown in Figure 3, time interval tsl and time interval ts2 is preferably set to different from each other.In the case, time interval ts2 can be set as being longer than time interval tsl.
Because the trigger signal interval of camera system as above and flash lamp device is identical, the interval between the ball image therefore on multiple-exposure image is also identical.
When by this multiple-exposure image of this sensing treatment device process, therefore, correct ball image is effectively isolated in the ball image that can show from this multiple-exposure image based on the characteristic of the identical fixed intervals of triggering signal and various noise.
In addition, because for each picture of this camera system, the interval of this flash lamp is fixed equably, and the image with various pattern can generate from this multiple-exposure image according to the translational speed of ball.
Fig. 4 (a) and Fig. 4 (b) shows when golfer uses golf club to beat the image of the moving ball (golf) of square stance.Fig. 4 (a) and Fig. 4 (b) is for showing two patterns of the signal generation scheme shown based on Fig. 3 and the multiple-exposure image obtained by camera system and flash lamp device respectively.
The image I1 that Fig. 4 (a) shows is obtained by the multiple-exposure of golf bat image C1, C2 and C3 and ball image 11a, 11b and 11c.In the case, the separate predetermined space of ball image 11a, 11b and 11c.
The image I2 of Fig. 4 (b) shows ball image overlap to provide the situation of the image-region 12 of preliminary dimension.
Namely, in the image that Fig. 4 (a) shows, this ball with high-speed mobile, therefore, when flash lamp is triggered, this image is formed in the state of the separate predetermined space of this ball image, and in the image shown at Fig. 4 (b), this ball moves with low speed, therefore, before this ball is removed out and away, flash lamp is triggered, thus causes this ball image to overlap each other.
There is provided according to this sensing treatment device of the present invention and method, so that when this ball image is separated from one another on multiple-exposure image, because this ball moves with the speed being equal to or greater than predetermined speed based on the fixed intervals of the flash lamp shown in Fig. 4 (a), and obtains the coordinate of the central point of this ball exactly.In sense process method according to the present invention, eliminate the situation of this ball image overlap shown in Fig. 4 (b).
The ball image of this overlap is by appendage process, and this appendage deviates from scope of the present invention, therefore will omit the description detailed to it.
Below with reference to Fig. 5 to Figure 18 describe according in the present invention by the process of the sensing treatment device of moving ball to the independent ball image that Fig. 4 (a) shows.
Fig. 5 (a) is the view that display comprises the original of the multiple-exposure image of independent ball image.The use of this multiple-exposure image has the low resolution of 320x240 and obtains with the camera system of the low-speed handing of 75fps and with the flash lamp device of 330Hz operation.
Preliminary treatment device 230 (with reference to figure 1) removes rest image by subtraction, i.e. background image from the original image that Fig. 5 (a) shows, and performs the predetermined preliminary treatment operations such as such as Gaussian Blur.Fig. 5 (b) shows the image obtained by preliminary treatment operation.
As mentioned above, when background image and noise suitably being removed from multiple-exposure image by preliminary treatment device, can easily extract ball image, being described below with reference to Fig. 6.
Multiple pictures that the image being shown in Fig. 6 is taken by camera system by overlap are that single image obtains.Suppose three the ball image construction image collections formed by generating three flashes of light, image collection S0 represents the image of zero picture; Image collection S1 represents the image of first picture; And image collection S2 represents the image of second picture.
Image acquiring apparatus 240 (with reference to figure 1) can be checked or check window and extract the image estimated by this ball image by profile.This process can be carried out, to retain by estimation for the last image of ball and abandoning by the image of estimation for not being ball.
That is, this ball has predetermined diameter.Therefore, consider the diameter of this ball, check the profile of respective image on multiple-exposure image, if they are too large or too little and can not become this ball, then can get rid of the profile checked.
In addition, as shown in Figure 6, formed and corresponding with the size of the respective image 11 of multiple-exposure image check window W, to comprise respective image 11, and check the respective aspect ratio checking window W.
Because this ball is circular, therefore the aspect ratio of this ball must be almost equal.If cause respectively checking window W has large width to the aspect ratio checking window W corresponding with the respective image 11 on multiple-exposure image too greatly, or too little and cause respectively checking window W and have little width, then the respective image 11 on multiple-exposure image is considered to not be ball and be therefore dropped.
Therefore, it is the image 11 of ball that above-mentioned shown method can be used to extract by estimation from multiple-exposure image.
Meanwhile, the image 11 extracted as ball image be installed in display in Fig. 7 (a), Fig. 7 (b) and Fig. 7 (c) spherical in, to obtain the coordinate of the central point of each image.
Fig. 7 (a) is the view of the embodiment of the ball image obtained under being presented at flash lamp; Fig. 7 (b) is the view of the wrong installation results of display ball; And Fig. 7 (c) is that display is according to the view using the semicircle erecting device 270 (with reference to figure 1) of this image processing apparatus correctly to install the result of ball in the present invention.
As shown in Fig. 7 (a), take ball image 11 when flash lamp irradiates.Therefore, irradiation area R1 is clearly presented at a side of ball image 11, and shadow region is then shown in the region relative with irradiation area R1.That is, the shadow region R2 of covering part bulb separation image 11 comes across the region relative with irradiation area R1.
According to the angle of light, shadow region only can be presented on part ball image or can cover the ball image exceeding half.
If when the ball image obtained under flash lamp is hidden, ball image is during to be installed in as shown in Fig. 7 (b) spherical, the central point distortion of this ball image, thus cause the coordinate information of central point to occur mistake, therefore, the degree of accuracy of the mobile simulation of this ball reduces widely.
Therefore, preferably, consider the shadow region occurred at this ball image place, carry out the installation of the ball image obtained by flash lamp.
An example of this ball image being installed as considering this shadow region, the radiation direction of the flash lamp irradiating this ball can being estimated, and carry out installing this shadow region is included in installation curve according to this radiation direction.
Fig. 7 (c) shows and considers this radiation direction and install this ball image.As shown in Fig. 7 (c), installation curve FC is formed in the irradiation area R1 of ball image 11, is included in installation curve FC to make shadow region R2.
This ball image is installed in this way, therefore extracts the central point CP of this ball image exactly.
As mentioned above, in order to extract the central point of this ball image exactly, preliminary treatment operation must be performed, so that suitably remove background image and noise in this multiple-exposure image obtained at first, therefore only retaining ball image.In order to estimate radiation direction and install this ball image, preliminary treatment operation must be performed, such as implement suitable Gaussian Blur relative to this image, implement threshold process relative to particular pixel values, and the pixel value etc. of this image of normalization.
In addition, this ball image can be damaged due to this preliminary treatment, so that extract customizing messages from this image.For this reason, this image is preferably formed by stages, so that in the various stages from this image zooming-out customizing messages.
The image that Fig. 8 (a) to Figure 10 (b) display operates according to the preliminary treatment that preliminary treatment device 230 (with reference to figure 1) performs and formed in the stage.
Fig. 8 (a) shows and from the multiple-exposure image obtained at first, removes background by subtraction and the image obtained, and Fig. 8 (b) is the zoomed-in view of the region A of Fig. 8 (a), which show original ball image 11-0.
As shown in Fig. 8 (b), this ball has multiple indenture, thus causes light effects irregular.Therefore, the distribution of the pixel value of original ball image 11-0 is very irregular.In addition, in one or more small pixel unit of its edge, there are multiple spiced salt noises with irregular pixel value.
Be difficult in such state obtain accurately extract the necessary various information of this central point from image, and may mistake be there is in the information of this extraction.
Therefore, all peripheral noises must be removed and suitably must adjust the distribution of the irregular pixel value of original ball image 11-0.
Fig. 9 (a) shows the image by almost completely being removed various peripheral noise from the image be shown in Fig. 8 (a) with proper level by Gaussian Blur process and threshold process and obtained, and wherein this original ball image is not damaged widely; Fig. 9 (b) is the zoomed-in view of the region B of Fig. 9 (a), which show the first process image 11-1.
Figure 10 (a) shows with the image carrying out Gaussian Blur process and threshold process higher than the level of the first process image 11-1 relative to the image that Fig. 8 (a) shows and obtained by the normalization process of the pixel value that carries out this ball image; Figure 10 (b) is the zoomed-in view of the region C of Figure 10 (a), which show the second process image 11-2.
In the second process image 11-2, the shape of original ball image 11-0 is greatly damaged.But, it is seen that the effect that the irregular distribution of pixel value causes is removed due to the indenture of this ball, and this irradiation area is clearly divided.
Therefore, preferably, as shown in figure 11, use the image shown in Figure 10 (c), namely the second process image 11-2 estimates radiation direction.
In the second process image 11-2, suitably distribute pixel value, and this pixel value is clearly divided based on its size, whereby, can easily estimate this radiation direction by finding the high region of pixel value.Here, this image is gray level image, and therefore pixel value only has the information about brightness value.
That is, can see, in the second process image 11-2 shown in Figure 11 (a), light is concentrated on the R3 of region, is relatively high in the R3 place brightness of this region.Can consider the central point of the center of region R3 as radiation direction.That is, the brightest point is the point that the axis of radiation direction passes.Figure 11 (a) shows the central point of region R3, and this central point is the brightest point, that is, high-high brightness point P1.
If only have a pixel to be the brightest point in the pixel on the ball image 11-2 of the second process image, then this pixel can be designed as high-high brightness point P1.But in irregularly shaped region, wherein several pixel has luminance point in this region, the barycenter in this region can be extracted by predetermined operation, and this respective point can be designed as high-high brightness point P1.
Meanwhile, by the high-high brightness point P1 on this ball image is selected as first using another point selection as second point, form the line and the axis this line being set as this radiation direction that connect and this second point at this first, this radiation direction can be estimated.This first can be extracted by the Luminance Analysis device of radiation direction estimating apparatus 250 (with reference to figure 1), and this second point can be extracted by the scanning means of radiation direction estimating apparatus 250 (with reference to figure 1).
This Luminance Analysis device can find the central point of the region R3 on the ball image shown in Figure 11 (a), i.e. high-high brightness point P1, to extract this first point.
This scanning means can pass through this second point of procedure extraction of display in Figure 11 (b), Figure 12 (a) and Figure 12 (b).First, as shown in Figure 11 (b), the high-high brightness point P1 that Figure 11 (a) shows is applied to the ball image 11-1 of this first process image.
Namely, the coordinate value of the high-high brightness point P1 on the ball image 11-2 of this second process image can be applied to the ball image 11-1 of this first process image, or the ball image 11-2 of this second process image can first process the ball image 11-1 of image overlapping with this, first to process on the ball image 11-1 of image so that this high-high brightness point P1 may be displayed on this.
As shown in Figure 12 (a), the ball image 11-1 of this first process image carries out around this high-high brightness point P1 the line sweep of 360 degree.
Figure 12 (b) shows the line sweep result of the ball image shown in Figure 12 (a).
As shown in Figure 12 (b), the outline line L1 of the ball image 11-1 of this first process image formed by this line sweep has very irregular shape.
Therefore, preferably, as shown in Figure 12 (c), average filter is used this outline line to be adjusted to the outline line L2 of installation.
As shown in Figure 12 (c), can see from the line sweep result of this ball image, the formation point of beeline Dmin and the point of formation longest distance Dmax clearly illustrate.
Preferably, in this line sweep result, the some P2 forming this beeline Dmin is selected as this second point.This will make explanations hereinafter by reference to Figure 13.
As shown in figure 13, the part 11-1 taken when the ball image 11 obtained by shooting ball 11 when this flash lamp is irradiated to ball 11 during moving at ball 11 comprises irradiation light and dash area R2.The part 11-1 of this shooting has and is shown as brighter part R1 under the impact of this light.In addition, the part R3 with maximum pixel brightness value is included in this brighter part R1.
The direction of flash lamp can be seen, the most highlights point on ball image, namely high-high brightness point P1 becomes the center of the axis AX of this radiation direction.
As shown in figure 13, can estimate, the axis AX of this radiation direction is through this point on outline line, i.e. second point P2, the distance between the profile of wherein this high-high brightness point P1 and this ball image 11-1 is the shortest.
Therefore, the point on the outline line of the ball image 11-1 closest to this high-high brightness point P1 can be designated as this second point P2.
This second point P2 can be confirmed as the some P2 formed on the outline line of this beeline because of the line sweep process shown in Figure 12 (a) to Figure 12 (c).
Therefore, connect this first P1, i.e. the line of this second point P2 of high-high brightness point and the acquisition of use said method can be set to the axis AX of this radiation direction.
Figure 14 is presented in the state shown in Figure 12 (b) to obtain this first P1 on this ball image 11-1 and this second point P2 and the view by extracting the axis AX being connected the radiation direction of these two points and the image obtained.
Meanwhile, as shown in figure 14, after the axis AX of radiation direction extracting this ball image, as shown in Figure 15 to Figure 17, the coordinate of the installation and this central point that use image processing apparatus 260 (with reference to figure 1) to carry out this ball image extracts.
Preferably, not that use second processes image 11-2 but uses the first process image 11-1 to install, to improve the installation accuracy of this ball image.
This is because in the first process image 11-1, the shape of this ball image is not greatly damaged, and therefore, can extract its central point more accurately after mounting.
Meanwhile, for this ball image of installation, the sensing treatment device according to this embodiment of the invention comprises a diameter measuring device, to measure the diameter of this ball image.
Predetermined value can be used as the diameter installing this ball image.Or, the diameter of the ball on this ball image can be measured, so that use the diameter of this measurement to install.
But because the execution that the impact of dash area on the preliminary image obtained, the restriction of resolution ratio and several preliminary treatment operate, the shape of this ball may be damaged to a certain extent.Therefore, preferably, use from the diameter of this ball image measurement instead of use predetermined diameter value to install, so that extract this central point more accurately.
Figure 15 is that display uses this diameter measuring device to measure the view of the process of the diameter of ball image 11-1.
First, in order to easily measure this diameter, as shown in figure 15, the axis of radiation direction is preferably arranged vertically, with the top making this irradiation area appear at ball image, makes this shadow region appear at the bottom of this ball image.
Here, as shown in figure 15, carry out line sweep by horizontal line L along the axis of this radiation direction, to extract one the longest in this section, wherein in this section, pixel value becomes predetermined value or the larger value as diameter De.
When measuring diameter as described above by this diameter measuring device, by this semicircle erecting device 270 (with reference to figure 1), ball image is installed.Installation operation is carried out as shown in Figure 16, Figure 17 (a) He Figure 17 (b).
This semicircle erecting device installs this ball image, so that when this shadow region is appeared on this ball image by light, this shadow region is included, therefore can extract the coordinate of central point exactly.
More specifically, this semicircle erecting device preferably includes: a pixel checking device, so that check the pixel value on this ball image along the direction by estimation being radiation direction; And an installation process device, form radius curve with the part wt place becoming predetermined value or greater value at the pixel value checked, and install that other is semicircle.
When as shown in figure 14 based on the axis AX of radiation direction of the radiation direction of estimation with arbitrarily angled inclination, preferably rotate this whole image, to make the axis AX of this radiation direction vertically arrange as shown in figure 16, so that more easily install this semicircle.
For this semicircle is installed, first, as shown in figure 16, prepare radius curve FC-1 based on the diameter De measured by this diameter measuring device.
This radius curve FC-1 moves along the axis AX of radiation direction arranged vertically as shown in figure 16 towards ball image 11.
Now, this pixel checking device checks the pixel value (that is, brightness value) of the image on radius curve FC-1.More preferably, this pixel checking device calculates the summation along the brightness value of the image on the radius curve FC-1 of the axis AX of radiation direction, to detect this change.
When calculate this brightness value when radius curve FC-1 moves along the axis AX of radiation direction or calculate the image in this radius curve brightness value summation and arrive the upper end profile of this ball image time, the brightness value of the image in this radius curve or the summation of brightness value increase suddenly.
The position that the summation of the brightness value of the image in the brightness value checked along the axis AX of radiation direction or this radius curve changes suddenly can be defined as the profile of ball image 11.Radius curve FC-1 is positioned at this position by this installation process device.
That is, as shown in Figure 17 (a), radius curve FC-1 is covered in the profile of the irradiation area R1 of ball image 11 by this installation process device.
As shown in Figure 17 (b), this installation process device installs second half circular curve FC-2, to realize the correct installation of the shadow region R2 comprising ball image 11 according to the diameter De measured.
When being installed this ball image by above-mentioned operation, coordinate extraction element 280 (with reference to figure 1) can extract the coordinate of the central point CP of this ball image exactly by the installation curve FC of ball image as shown in figure 18.
Therefore, although use the low-quality image obtained by this low resolution and low speed camera system and flash lamp device, the coordinate of the central point of this ball can be extracted exactly.
Be three-dimensional coordinate by conversion equipment by the Coordinate Conversion of the central point of the ball extracted as mentioned above, and obtain the physical message of the moving track of ball to be simulated based on this three-dimensional coordinate.
Below with reference to Figure 19 and Figure 20, the embodiment according to the sense process method of moving ball of the present invention is described.
As shown in figure 19, first, this signal generation unit applications trigger signal, to make this camera system and this flash lamp device with the multiple-exposure image (S10) of the mobile status of predetermined space shooting ball.
Implement various initial processing step, to remove background image and various noise (S20) from the multiple-exposure image of this acquisition.
Ball image (S30) is extracted (when extracting this ball image from this preliminary treatment image, also noise can be extracted, therefore, more strictly speaking, extract ball image candidate), and check the pixel value of the ball image of this extraction, i.e. brightness value (S40), to extract first point (S50) with highest brightness value.
Around extracted first, 360 degree of line sweeps (S60) are carried out to this ball image, and this average filter is applied to the outline line of the ball image of extracted line sweep result, to make this outline line level and smooth (S70).
The point be connected to using beeline on the outline line of this ball image of first is extracted as second point (S80).
Formed through this first line with this second point, and this line is set to the axis (S90) of this radiation direction.
But the angle between the axis of the radiation direction of as mentioned above setting and vertical line or horizontal line can depart from preset range.
In the foregoing description, suppose the axis of radiation direction be passed in form beeline between high-high brightness point and outline line point to extract this second point.But, when the angle between radiation direction and vertical line exceedes this preset range, above-mentioned hypothesis can not be met.
In this case, may need to use predetermined operation to adjust the step of the angle of the axis of radiation direction.
Therefore, the angle that defined by the axis of radiation direction should be determined whether in preset range (S100).When determining that the angle between the axis of this radiation direction and vertical line is in preset range, preferably use the axis of this radiation direction.On the other hand, when determining that the angle between the axis of this radiation direction and vertical line is not in this preset range, the radiation direction estimated by step S60 to S80 is corrected, and the axes settings of this correction is the axis (S110) of this radiation direction.
When finally determining the axis of this radiation direction, the radiation direction according to estimation as mentioned above installs this ball image (S120), and extracts the central point (S130) of the image installed.
According in the sense process method of embodiment as shown in figure 20, on the other hand, be used in the image formed respectively in the initial processing step shown in Fig. 8 to Figure 11 and extract the central point of this ball respectively.
Basically identical with the sense process method in embodiment according to Figure 19 according to the sense process method in this embodiment, be formed at respective initial processing step respectively except image and the image formed respectively based on this is estimated except this radiation direction.Therefore will omit the description to repeating part, and only describe its difference in detail.
Relative to obtain multiple-exposure image implement initial processing step (S20), and based on this image preliminary treatment level and formed one first process image and one second process image (S21 and S22).
Fig. 9 shows this first process image, and Figure 10 shows this second process image.
From this second process image, extract ball image (S30), and check pixel value (that is, brightness value) (S40) of the ball image of this extraction, to extract first point (S50) with highest brightness value.
On the other hand, first that extracts is applied to this first process image, and carries out 360 degree of line sweeps (S60) around this first to the ball image of this first process image.This average filter is applied to the outline line (S70) of the ball image of extracted line sweep result.
Following step is consistent with the step shown in Figure 19, therefore will omit the detailed description of carrying out it.
Meanwhile, Figure 21 shows the step S120 shown in Figure 19 and Figure 20, in more detail, that is, installs the step of this ball image according to radiation direction.As shown in figure 21, the diameter (S123) measured when the diameter of this ball image is preferably installation.
Here, in the state of ball image rotation, measure the diameter of this ball image as shown in figure 12, arrange to make the axes normal of this radiation direction.
Subsequently, the radius curve based on the diameter measured forms (S124).Axis along this radiation direction checks pixel value (brightness value), and this radius curve is positioned at the outline line place (S125) of the illuminated portion of this ball image.
Subsequently, second half circle based on measured diameter is formed at semicircle opposite side with this, to install this ball image (S126), and extracts the center point coordinate (S130) of the ball image installed.
Calculate the change of the extraction coordinate of the central point of this ball image, to obtain the physical property information of this moving ball.
Pattern of the present invention
To implement optimal mode of the present invention to the various embodiments of the virtual golf ball analogue means of the sensing treatment device and method and use said apparatus and method that describe moving ball.
Industrial applicibility
According to the sensing treatment device of the moving ball in the present invention as above and method and use in the virtual golf ball analogue means of said apparatus and method, although obtain low-quality image by low resolution and low speed camera system and flash lamp device, but the sensing treatment device of moving ball disclosed in this invention and method can obtain the coordinate of the central point at the ball image of sub-pixel-level in this acquisition image, thus achieve high sense process performance and the sensing degree of accuracy with low cost, and the invention also discloses the virtual golf ball analogue means using said apparatus and method.Therefore, the present invention can be widely used for the sensing treatment device of this moving ball and method and use the industry that the virtual golf ball analogue means of said apparatus and method is relevant.

Claims (13)

1. a sensing treatment device, it obtains and analyzes the image of moving ball under predetermined illumination condition, and it is characterized in that, this sensing treatment device comprises:
One radiation direction estimating apparatus, analyzes the ball image of the image obtained from this and estimates towards the direction of the light of described moving ball; And
One image processing apparatus, described ball image is installed in the shape of ball along the radiation direction estimated by the irradiation side based on described ball image, and extracts the coordinate of the central point of the image that this is installed.
2. sensing treatment device as claimed in claim 1, it is characterized in that, described radiation direction estimating apparatus comprises:
One Luminance Analysis device, extracts in all pixels of described ball image one first point with maximum brightness value; And
One scan device, extracts the second point on the profile of the described ball image of closest described first, wherein
The line connecting described and described second point at first is set to the axis of described radiation direction.
3. sensing treatment device as claimed in claim 1, it is characterized in that, comprise a preliminary treatment device to be further configured to carry out preliminary treatment, thus the background image removed in the image obtained and noise, and form one first process image and one second process image according to preliminary treatment degree, described second process image is to process the level of image by preliminary treatment higher than described first
Wherein,
Described radiation direction estimating apparatus comprises: a Luminance Analysis device, extracts one first point in all pixels of described second process image with maximum brightness value; And one scan device, scanning process point on image extremely the described first beeline processing the profile of image from described first corresponding described first, to extract with described apart from the second point on corresponding profile, wherein,
The line connecting described and described second point at first is set to the axis of described radiation direction.
4. a sensing treatment device, it obtains and analyzes the image of moving ball under predetermined illumination condition, and it is characterized in that, this sensing treatment device comprises:
Half circular mounting device, the profile place of the ball image on high-high brightness point side forms a radius curve of a predetermined diameter or the diameter by described ball image measurement, and based on described diameter, the semicircle relative with described radius curve is installed, comprises the shadow region of described ball image to make described ball image be mounted to; And
One coordinate extraction element, extracts the coordinate of the central point of the ball image that this semicircle is installed.
5. a sense process method, it obtains and analyzes the image of moving ball under predetermined illumination condition, and it is characterized in that, this sense process method comprises:
Analyze the ball image from this image obtained, to estimate towards the direction of the light of described moving ball;
Based on the irradiation side of described ball image, described ball image is installed in the shape of ball along this radiation direction estimated; And
Extract the coordinate of the central point of described installation diagram picture.
6. sense process method as claimed in claim 5, it is characterized in that, the step estimating described radiation direction comprises:
Be extracted in all pixels of described ball image one first point with maximum brightness value;
Be extracted in the second point on the profile of the described ball image of closest described first; And
Be set as connecting at described first towards the axis in the direction of the light of described ball image with the line of described second point.
7. sense process method as claimed in claim 6, it is characterized in that, the step extracting at described first comprises:
Check the brightness value of all pixels at described ball image;
When only having a described pixel to be the brightest point, be described first point to have the described Pixel Design of the brightest point; And
When several described pixel has luminance point, calculating has the barycenter of the several described pixel of luminance point to obtain described first point.
8. sense process method as claimed in claim 6, it is characterized in that, the step extracting described second point comprises:
360 degree of line sweeps are carried out relative to described ball image around described first; And
Extract corresponding with the beeline between described and the profile of described ball image a bit as this second point at first.
9. sense process method as claimed in claim 5, is characterized in that, the step that described ball image is installed in the shape of ball comprised:
Profile place based on the ball image of this radiation direction estimated on high-high brightness point side forms the radius curve of predetermined diameter or the diameter by described ball image measurement; And
Based on described diameter, the semicircle relative with described radius curve is installed.
10. sense process method as claimed in claim 9, it is characterized in that, the step forming described radius curve comprises:
The axis of described radiation direction is extracted based on this radiation direction estimated;
Rotate described ball image to arrange to make the axes normal of described radiation direction;
The summation of the pixel value in described radius curve is checked when described radius curve being moved to described ball image along the axis of described radiation direction; And
The summation described radius curve being positioned at checked pixel value becomes the position of a predetermined value or greater value.
11. sense process methods as claimed in claim 9, is characterized in that,
The step forming described radius curve comprises: analyze described ball image to measure the diameter of described ball image; And form a radius curve based on measured diameter; And
The step that described ball image is installed in the shape of ball is comprised: install and form a semicircle relative with described radius curve based on measured diameter.
12. sense process methods as claimed in claim 11, it is characterized in that, the step measuring the diameter of described ball image comprises:
The axis of described radiation direction is extracted based on this radiation direction estimated;
Rotate described ball image to arrange to make the axes normal of described radiation direction;
Axis along the vertical rotary of described radiation direction carries out horizon scan line relative to described ball image; And
Estimate the diameter of the length between horizontal 2 as this ball image, wherein said horizontal line has extreme length between 2 of the profile of this ball image.
13. 1 kinds of virtual golf ball analogue means, is characterized in that, this device comprises:
One sensor unit, comprises a camera system and a flash lamp device, to obtain the multiple-exposure image of the Mobile golf impacted by golfer;
One sense process unit, comprising: a radiation direction estimating apparatus, extracts and analyzes the image from the golf of this image obtained, and estimating the direction of the light launched towards described golf from described flash lamp device; And an image processing apparatus, along the irradiation side of this radiation direction estimated based on described golf image, described golf image is arranged in the shape of golf, and extracts the coordinate of the central point of the image that this is installed; And a simulator, calculate the change of the coordinate of described central point, and obtain the physical message relevant with Mobile golf, thus simulate the track of described golf.
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