KR101019798B1 - Apparatus and method for sensing moving object and virtual golf simulation device using the same - Google Patents

Abstract

PURPOSE: An apparatus and a method for sensing a moving object and a virtual golf simulation device using the same are provided to embody high sensing process capability at a low cost. CONSTITUTION: An apparatus for sensing a moving object comprises a sensor unit and a sensing process unit(220). The sensor unit acquires a multiple exposure image of plural frames about a moving object. The sensing process unit is composed of a first movement direction measuring unit(230), a second movement direction measuring unit(240), and an analyzing unit. The first movement direction measuring unit presumes the movement direction of an object through the location information of an initial object. The second movement direction measuring unit presumes the movement direction of an object through the pixel value of each image area on the multiple exposure image.

Description

Object motion sensing device and sensing method, and virtual golf simulation device using the same {APPARATUS AND METHOD FOR SENSING MOVING OBJECT AND VIRTUAL GOLF SIMULATION DEVICE USING THE SAME}

The present invention relates to an object motion sensing device and a sensing method, and a virtual golf simulation device using the same. More specifically, an object for calculating physical information by obtaining an image of a moving object such as a golf ball and analyzing the same. It relates to a motion sensing device and a sensing method, and a virtual golf simulation device using the same.

Recently, various developments have been actively developed to enable popular sports games such as baseball, soccer, basketball, and golf to be enjoyed in the form of interactive sports games through simulation indoors or in specific places. It is done.

In such an interactive sports game, various kinds of objects for accurately sensing physical information about the movement of an object, that is, a ball, are used to simulate a sport using a ball such as a baseball ball, a soccer ball, a basketball ball, and a golf ball. The research and development of the sensing system is very active.

For example, various sensing systems such as a sensing system using an infrared sensor, a sensing system using a laser sensor, a sensing system using an acoustic sensor, and a sensing system using a camera sensor are emerging.

The present invention accurately extracts an image of an object on the acquired image even though a multi-exposure image of a moving object is obtained by a low-resolution low-speed camera device and a stroboscopic device, and in particular, a multi-exposure of an object moving at low speed. The object motion sensing device that can realize high sensing processing power and sensing accuracy at low cost by extracting the center point coordinates by extracting the image of the precisely overlapped object even when several object images are overlapped as the image is acquired. And a sensing method and a virtual golf simulation apparatus using the same.

Object motion sensing apparatus according to an embodiment of the present invention, the sensor unit for obtaining a multi-exposure image of a plurality of frames for a moving object; First motion direction estimating means for estimating the motion direction of the object based on the positional information of the initial object, second motion direction estimating means for estimating the motion direction of the object from pixel values of each image area on the multiple exposure image; And a sensing processor including analysis means for extracting and analyzing an image of an object from an image area on the motion direction estimated by at least one of the first and second motion direction estimating means.

Also preferably, the first movement direction estimating means may include line generating means for selecting at least two points of each image area on the multiple exposure image and generating a line connecting each other, and an initial object of the generated lines. And a line extracting means for extracting the line having the shortest distance from the position as the axis of motion of the object.

Also preferably, the second movement direction estimating means may include image collecting means for collecting the multiple exposure images of the at least two frames into one, and an image area on each scan line by scanning a predetermined angle line around the position of the initial object. And line extracting means for checking a pixel value of the scanning unit, and axis extracting means for extracting the corresponding scan line in the case of having the largest pixel value among the scan lines by the line scanning means as the direction of motion of the object. .

Also preferably, the second movement direction estimating means is configured to be executed when the distance between the line extracted as the movement direction axis by the line extracting means and the position of the initial object is larger than a set value.

On the other hand, the object motion sensing device according to another embodiment of the present invention, the sensor unit for obtaining a multi-exposure image of a plurality of frames for the ball moving; And motion direction estimating means for generating a line passing through each image area on the multiple-exposure image and estimating the line closest to the initial ball position as the direction of motion of the ball, and an image about the ball among the image areas on the estimated motion direction. It includes a sensing processing unit including an analysis means for extracting and analyzing.

Also preferably, the sensing processing unit may collect multiple exposure images of the at least two frames into one, and scan a predetermined angle line around the initial ball position to calculate a function value based on pixel values of each image area to obtain a maximum value. It is characterized in that it further comprises a movement direction extraction means for extracting a scan line having as a movement direction axis of the ball.

Also preferably, the motion direction extracting means is configured to be executed when the distance between the line estimated as the motion direction axis by the motion direction estimating means and the initial ball position is larger than a set value.

On the other hand, the object motion sensing apparatus according to another embodiment of the present invention, the sensor unit for obtaining a multiple exposure image of a plurality of frames for the ball moving; And combining the multiple exposure images of the at least two frames into one, and scanning a predetermined angle line around the initial ball position to calculate a function value based on the pixel value of each image area, thereby determining a scan line having a maximum value as the direction of motion of the ball. And a sensing processing unit including an extraction means for extracting a motion direction and an analysis means for extracting and analyzing an image of a ball from each image region on the extracted motion direction.

On the other hand, the object motion sensing method according to an embodiment of the present invention, the method comprising the steps of acquiring a multiple exposure image of a plurality of frames for the ball moving; Recognizing an initial position of a ball on the multiple exposure image; Generating a line passing through each image area on the multiple exposure image, respectively; Estimating the line of the distance closest to the initial position among the generated lines as the direction of movement of the ball; And extracting and analyzing an image of a ball from each image area on the estimated movement direction.

Also preferably, the method further comprises the step of comparing the distance between the line estimated as the direction of movement of the ball and the initial position of the ball with a setting value. And setting the analysis to be performed.

Also preferably, the method may further include comparing a distance between the line estimated as the direction of movement of the ball and the initial position of the ball with a setting value, when the distance is larger than the setting value, Combining the exposed images into one, calculating a predetermined function value based on pixel values of each image area by scanning a predetermined angle line around the initial position in the collected image, and a maximum of the calculated function values And extracting a scanline having a value as a direction of movement of the ball.

On the other hand, the object motion sensing method according to another embodiment of the present invention, the method comprising the steps of acquiring multiple exposure images of a plurality of frames for the ball moving; Recognizing an initial position of a ball on the multiple exposure image; Combining the multiple exposure images of the at least two frames into one; Calculating a predetermined function value based on pixel values of each image area by scanning a predetermined angle line around the initial position in the collected image; Extracting a scan line having a maximum value among the calculated function values as a direction of movement of a ball; And extracting and analyzing an image region of the ball from each of the image regions on the estimated movement direction.

Also preferably, the calculating of the function value may include calculating a first value with respect to the sum of pixel values along the scan line for each image area, and at intervals of a predetermined value as a radius of the ball. Calculating a second value regarding the sum of pixel values of the corresponding image area along one side line generated on one side of the scan line, and the corresponding image area along the other line generated at intervals of the radius on the other side of the scan line. And calculating a third value for the sum of pixel values of and calculating a value obtained by subtracting the second value and the third value from the first value.

On the other hand, the virtual golf simulation device according to an embodiment of the present invention, the sensor unit including a camera device and a strobe device for obtaining a multiple exposure image of the golf ball hit by the golfer and moving; First processing means for extracting an object image region in which the images of the object moving by the multiple exposures overlap each other in the multiple exposure image, and generating and correcting at least two center point candidates for the extracted object region image; A sensing processor including second processing means for extracting at least two center points of the object region image; A converting unit converting the coordinates of the center point extracted by the sensing processing unit into three-dimensional coordinates; And a simulator for simulating the trajectory of the golf ball by calculating physical information about the golf ball moving based on the three-dimensional coordinates.

The object motion sensing device and the sensing method according to the present invention, and the virtual golf simulation device using the same, even though the multiple exposure image of the moving object is acquired by the low-resolution low-speed camera device and the stroboscopic device, the object on the acquired image By accurately extracting the image of, and obtaining multiple exposure images of slow moving objects, even if multiple object images overlap, the image of the overlapped object is extracted and the center point coordinates are extracted. It is effective to realize high sensing processing power and sensing accuracy.

1 is a block diagram showing a sensing device or a virtual golf simulation device according to an embodiment of the present invention.
FIG. 2 is a diagram illustrating an example of a screen golf system to which the sensing device or the virtual golf simulation device shown in FIG. 1 is applied.
3 is a diagram illustrating an operation signal system of a camera device and a strobe device of a sensing device according to an embodiment of the present invention.
4A and 4B are diagrams each showing an image pattern of an object acquired according to the system shown in FIG. 2.
FIG. 5A is a view showing an example of an actual acquired image of the image of the pattern shown in FIG. 4B, and FIG. 5B is preprocessed for the image shown in FIG. A diagram showing an image.
6 is a view illustrating an example of a process of estimating a moving direction of an object by a sensing device and a sensing method according to an embodiment of the present invention, and FIG. 7 is an enlarged view of region A of FIG. 6.
8 to 10 are diagrams illustrating an example of an object movement direction estimation process by a sensing device and a sensing method according to another embodiment of the present invention.
FIG. 11A illustrates a process of adjusting the position of the center point candidate generated for the fitted object image region, and FIG. 11B illustrates that the center point is extracted by the process illustrated in FIG. The figure shown.
12 (a) and 12 (b) are diagrams for explaining a process of adjusting the position of the estimated motion axis of the object to penetrate the center of the fitted object image region.
13 is a flowchart illustrating an embodiment of a sensing method according to the present invention.

An embodiment of an object motion sensing apparatus and a sensing method and a virtual golf simulation apparatus using the same according to the present invention will be described in more detail with reference to the accompanying drawings.

The object motion sensing apparatus according to the present invention is applicable to all systems in which sensing is performed by acquiring and analyzing an image of a ball, ie, an object's motion state, that is exercised in a sport using a ball such as golf, and the like as an example. It can be applied to a so-called screen golf system to which a golf simulation device is applied.

1 and 2 illustrate a schematic configuration of the object motion sensing apparatus and the virtual golf simulation apparatus using the same according to the present invention.

First, an object motion sensing apparatus and a virtual golf simulation apparatus using the same will be described with reference to FIGS. 1 and 2.

As shown in FIG. 1, an object motion sensing apparatus according to an exemplary embodiment includes a sensor unit including a camera device 310 and 320, a strobe device 330, a signal generator 210, and the like. And a sensing processing unit 220 for processing the image of the moving object by extracting the center point coordinates by processing the image acquired by the sensor unit.

Although FIG. 1 illustrates a case in which two camera apparatuses 310 and 320 are provided, the present invention is not limited thereto and may include all cases in which one or more camera apparatuses are provided.

The camera apparatuses 310 and 320 are provided to acquire images of a plurality of frames with respect to a state in which the object moves along the movement direction from an initial position of the object.

The strobe device 330 is used as a light source for photographing the camera device as an illumination device using an LED light, and the strobe light is generated at predetermined time intervals (that is, a plurality of illumination flashes are operated at predetermined time intervals). The multiple exposure image is acquired by the camera apparatuses 310 and 320.

That is, a multiple exposure image, in which an object is photographed by the number of flashes by the strobe apparatus 330, is acquired in an image of one frame photographed by a camera apparatus.

Details of operations of the camera apparatuses 310 and 320 and the strobe apparatus 330 will be described later.

Meanwhile, a trigger signal for operating the camera devices 310 and 320 and the strobe device 330 is generated by the signal generator 210 and the camera devices 310 and 320 and the strobe device 330. The multiple exposure image is processed by the sensing processor 220 and transmitted to the simulator 100.

The sensing processor 220 estimates the movement direction of the object from the first movement direction estimating means 230 for estimating the movement direction of the object based on the positional information of the initial object, and the pixel values of each image area on the multiple exposure image. It is preferably configured to include a second direction of motion estimation means 240 to.

Here, the sensing processor 220 may include only one of the first motion direction estimating means 230 and the second motion direction estimating means 240, or both of them, and the first motion direction estimating means 230. ) And the second motion direction estimating means 240, firstly, the first motion direction estimating means 230 is applied to estimate the motion direction of the object. When the estimated movement direction is out of a predetermined range, it is preferable that the second movement direction estimating means 240 is applied to estimate the movement direction.

As described above, when the movement direction is estimated, the analyzing means 250 of the sensing processor 220 extracts a center point of the object image by extracting an image region of the object from among the image regions on the estimated movement direction.

More specific details regarding the first motion direction estimating means 230 and the second motion direction estimating means 240 will be described later.

On the other hand, the simulator 100 is preferably configured to include a controller (M), the database 110, the image processing unit 120 and the image output unit 130, and the like.

The controller M receives the coordinate information of the object obtained by the image processing by the sensing processor 220, converts the coordinate information of the object into 3D coordinate information, and calculates predetermined physical information for simulating the motion trajectory of the object. 120).

At this time, the predetermined data for the simulation of the motion trajectory of the object is extracted from the database 110 and the image processing unit 120 extracts the image data stored in the database 110 in the simulation image processing of the motion trajectory of the object. This can be done by.

Here, the converting means for converting the coordinate information of the object received from the sensing processing unit 220 into the three-dimensional coordinate information may be provided separately from the control unit (M).

An example of a screen golf system to which a sensing device or a virtual golf simulation device having the device configuration as described above is applied is shown in FIG. 2.

As shown in FIG. 2, a golf tee and a ground (preferably including at least one of a fairway mat, a rough mat and a bunker mat) on which the golf ball 10 is placed on one side of the golf booth B are provided. The mat 30 and the golfer is provided with a swing plate 20 provided to make a golf swing.

In front of the golf booth (B) is provided with a screen 40 for displaying a virtual golf simulation image implemented by the image output unit 130, the camera device (310, 320) and the strobe device 330 on the ceiling, respectively It is provided.

In FIG. 2, the camera devices 310 and 320 are provided on the ceiling and the wall, respectively, but the present invention is not limited thereto. Any position can be installed as long as it is a predetermined position that is not obstructed and that there is no fear of collision by the golf ball hit by the golfer.

2 shows a case in which the strobe device 330 is installed on the ceiling and installed to provide strobe light in a direction substantially perpendicular to the point of impact, but is not limited thereto. Any location is possible.

In the system as described above, when the golfer hits the golf ball 10 on the hitting mat 30 toward the screen 40 in the swing plate 20, the predetermined area where the hit is made as shown in FIG. The camera apparatuses 310 and 320 acquire images of a plurality of frames, respectively, and the strobe apparatus 330 acquires a multiple exposure image of a golf ball that fires a plurality of flashes per frame.

In FIG. 3, a trigger signal generation system of the camera apparatus and the strobe apparatus by the signal generator 210 (see FIG. 1) is illustrated.

As shown in FIG. 3, the trigger signal for the camera device is made at tc time intervals. That is, the trigger signal is generated at tc time intervals per frame. At this time, the exposure time per frame is te time (where tc> te is preferable), and the data about the image acquired during the tc-te time is transmitted to the sensing processor 220 (see FIG. 1). This is preferred.

That is, as shown in FIG. 3, the camera apparatus is exposed during the trigger signal generation time interval of the camera apparatus, and data about the obtained multiple exposure image is transmitted to the sensing processor.

The strobe illumination by the strobe apparatus is generated a plurality of times during the exposure time (te time) of the camera apparatus. In FIG. 3, the trigger signal of the strobe illumination is generated three times at a time interval of ts1.

That is, during the exposure time (te time) of the camera device, strobe illumination occurs three times at the same time interval ts1 time interval. At this time, the camera device and the strobe device are preferably synchronized by the signal generator 210 (see FIG. 1) so that the first trigger signal is simultaneously generated.

As shown in FIG. 3, the time from the trigger signal of the last strobe light to the trigger signal of the first strobe light of the next frame among the three strobe lights is preferably ts2 time interval, and the time interval between ts1 and ts2 times. 3 may be set to be the same, but it is preferable that the ts1 time and the ts2 time are set to be different from each other, more preferably, the ts2 time is set to be longer than the ts1 time. .

As described above, the distance between the trigger signal of each of the camera device and the strobe device is fixed so that the distance between the object images on the multiple exposure image acquired is constant.

Therefore, in processing the multiple exposure image, the sensing processor can effectively separate the correct object image from the object image existing on the multiple exposure image and various noises from the feature regarding the fixed fixed interval of the trigger signal.

In addition, since the interval of strobe illumination per frame of the camera device is fixed at a constant, various patterns of images may be generated according to the movement speed of the object in the multiple exposure image.

Hereinafter, a ball (golf ball) that is hit by a golf club and moves by the golf object will be described as an example.

In FIG. 4, two patterns of the multiple exposure image acquired by the camera apparatus and the strobe apparatus according to the signal generation system illustrated in FIG. 3 are illustrated in (a) and (b), respectively.

That is, FIG. 4 shows two patterns of images acquired according to the trigger signal system shown in FIG. 3 regarding the state in which the ball is hit by the golf club (I1 and I2).

In the image I1 shown in FIG. 4A, the golf club images C1, C2, C3 and the ball images 11a, 11b, and 11c are obtained by multiple exposure, and the ball images 11a and 11b are obtained. , 11c) appear to be separated from each other by a predetermined interval.

The image I2 shown in FIG. 4B shows a case where the balls overlap each other and appear as an image area 12 of a predetermined size.

That is, the image shown in (a) of FIG. 4 is a case where the image is formed at a predetermined distance when each strobe light is triggered because the ball moves at high speed, and the image shown in (b) of FIG. Because of this slow motion, the strobe lights are triggered before the ball travels farther and appear superimposed on each other.

In the object motion sensing apparatus and the sensing method according to the present invention, as shown in (a) of FIG. 4, the balls are separated from each other on the multiple-exposure image by moving the balls at a high speed or more at a predetermined speed according to a fixed period of the strobe light. As shown in FIG. 4 (b), the balls appear to overlap each other on the multiple exposure image by moving at a low speed below a predetermined speed according to a fixed period of the strobe illumination. In this case, the center of the ball is extracted by accurately estimating the direction of motion of the ball and extracting the ball image from the images on the direction of motion.

The object motion sensing apparatus and the sensing method according to the present invention can be particularly useful in the case of the superimposed ball image shown in (b) of FIG. 4, as described below with reference to FIGS. 5 to 11. The processing of the ball images superimposed on each other as shown in FIG. 4B by the object motion sensing apparatus according to the present invention will be described.

Fig. 5 (a) shows an original multiple exposure image including images of balls superimposed on each other, which is obtained by using a low speed camera device of 320 x 240 at 75 fps and a stroboscopic device of 330 Hz. Image.

On the image which has been fixed with subtraction or the like for the original image as shown in (a) of FIG. 5, the background image is removed and subjected to a predetermined preprocessing process such as Gaussian Blur. It is shown in FIG.5 (b).

However, because the balls are superimposed on each other and the resolution of the camera device is low, i.e. it is not an image with a resolution that makes it clear that the balls are superimposed on each other, the image of the superimposed balls may be It appears in the form of a confusion with various noises, such as a certain sized image area of a golfer's body or a predetermined sized image area of a golf club. It is very difficult to extract only the relevant image area.

In order to extract the overlapped ball image as described above, the ball movement direction is first estimated, and the images existing in the ball movement direction are first extracted, and the image of the ball is finally extracted from the extracted images. You can only extract images about.

6 to 10 are views illustrating a motion direction estimation process of a ball according to an object motion sensing device and a sensing method, respectively, according to an embodiment of the present invention. First, the first motion direction estimation unit will be described with reference to FIGS. 6 and 7. The process of estimating the direction of motion of the ball is explained.

First, a line L that penetrates all image regions R present in the image in which the background and noise are properly removed from the multiple-exposure image of all frames obtained initially is generated.

That is, at least two points of all the image areas R are selected and a line connecting them to each other is generated as shown in FIG. 6.

At this time, the information about the initial position (B1) of the ball should be set in advance. That is, the camera device detects the initial position of the ball before the ball moves and sets the initial position B1 of the ball on the multiple exposure image from the information about the ball.

The distance from the initial position B1 of the ball is measured for all lines L generated as described above.

That is, referring to FIG. 7 in which the area A of FIG. 6 is enlarged, the linear distance to the initial position B1 of the ball is measured for both the lines passing through the R1 area and the several lines passing through the R2 area.

In FIG. 7, the L1 line passing through the R1 region and the L2 line passing through the R1 region and the R2 region are closest to the initial position B1 of the ball, and the L1 line of the two lines is closest to the initial position B1 of the ball. Is estimated as the axis of motion of the ball.

Wherein when said initial position the linear distance (B1) and the L1 line D _L of the ball the D _L two days the direction of motion is incorrectly estimated motion direction is estimated by the above method is a long distance, so outside the predetermined set range Since the possibility is high, it is preferable that the direction of motion be estimated again by the second direction of motion estimation means.

8 to 10 show a motion direction estimation process by the second motion direction estimation means.

First, as shown in FIG. 8, images of several frames are collected into one so that an image area to be seen in one image is displayed according to a progress time.

FIG. 8 illustrates a case where the ball image areas 12-1, 12-2, and 12-3 for each frame are all displayed in one image.

As shown in FIG. 8, the scan area SR is designated at a predetermined angle with respect to the initial position B1 of the ball in the combined image, and thus, based on the initial position B1 of the ball in the scan area SR. The pixel values for the images on each scan line X1, X2, X3, ... Xi ... Xn are checked.

In this case, the scan area lines s1 and s2 forming the scan area SR are preferably formed to have a preset angle, but may be set to 360 °, but set to about 120 ° forward as shown in FIG. 9. This is preferred.

The check of pixel values for the images on the scan lines X1, X2, X3, ... Xi ... Xn may be performed as shown in FIG.

As shown in FIG. 10, the scan is performed according to a predetermined value (including both the case where the radius of the ball is known and set in advance and the case where the radius is measured and set from the image of the ball in advance). The first sub scan line UL and the second sub scan line LL are generated on one side and the other side with respect to the line Xi, respectively, and the sum of pixel values of the image on the scan line Xi is Sum 1, The sum Sum 2 of pixel values of the image on the first sub scan line UL and the sum Sum 3 of pixel values of the image on the second sub scan line LL are calculated.

And the cost function function value is calculated as follows.

v = Sum 1-Sum 2-Sum 3

The function values as described above are obtained for each scan line, and the maximum scan line is estimated as the axis of motion of the ball.

Thus, by calculating the cost function function value of each scan line and the sub scan line according to the diameter of the ball for the corresponding scan line, it is possible to effectively exclude image areas that are too small or too large as the image area of the ball and the ball image area It can be accurately included so that it is possible to accurately extract the axis of motion through the ball image area.

Therefore, in FIG. 9, the Xi scan line can be estimated as the direction of motion axis.

On the other hand, if the movement direction axis of the ball is extracted by the method as described above, the noise is effectively removed and the ball image is checked by checking the pixel value as shown in FIG. Only the area can be extracted.

11A and 11B illustrate an example of a method of effectively extracting only a ball image from an image existing on a motion direction axis.

FIG. 11A illustrates a specific pattern of images that may exist on the axis of motion, and FIG. 11B illustrates an axis of motion 13 for the image shown in FIG. 11A. The figure shows the distribution of the pixel value checked accordingly.

As shown in (a) of FIG. 11, the direction of motion 13 passes through the image region 12 with respect to the overlapping ball and the noise N1 around it. Looking at the distribution of pixel values, a pattern as shown in FIG. 11B appears.

The image area of the overlapped balls should be a section in which the pixel values are maintained above a predetermined threshold, the sum of the diameters of at least two balls, and in the distribution of pixel values as shown in FIG. The sections maintained above the predetermined threshold are divided into a1 to a2 sections and a3 to a4 sections.

Here, in the case where the interval in which the pixel value is maintained above the threshold is an image representing the interval a3 to a4, that is, the image referred to as 12 in FIG. 11A, it can be estimated as an image region in which balls overlap, and the interval a1 to a2 In the case of an image representing ie, an image referred to as N1 in FIG. 11A, it may be estimated as noise (image related to a golf club).

Therefore, the N1 image can be excluded and 12 images can be extracted as the image of the overlapping balls.

On the other hand, after extracting the image area of the overlapping ball among the images existing on the axis of motion as described above, it is necessary to extract the center point by appropriate fitting to the extracted image area. This is illustrated in FIGS. 12A and 12B.

Fitting to the overlapped ball image region 12 may be performed by various methods, but FIG. 12 (a) shows a case in which each of the edge portions of the ball image region 12 is fitted in a semicircular shape. have.

As shown in FIG. 12A, when the fitting is performed on the ball image region, the center point of one end of the ball image region and the center point of the other end of the ball image region are extracted.

For extracting the center point for the ball image region, first of all, the point of the pixel value checked along the axis of motion 13 or any two points on the axis of motion (an estimated center point for the two balls at either end) Two points are extracted as center point candidates EP1 and EP2 at positions where the pixel value starts to change with the change.

Since the center point candidates EP1 and EP2 generated as described above are not accurate center points, it is necessary to adjust them appropriately.

As shown in (a) of FIG. 12, since the fitting curves HC1 and HC2 are semi-circular, it is possible to adjust the center points candidates EP1 and EP2 to the correct center points based on the geometric conditions thereof. .

That is, the lengths of the three-way lines r1, r2, and r3 are the same with respect to the first center point candidate EP1, and the lengths of the three-way lines r4, r5, and r6 are the same with respect to the second center point candidate EP2. By making them equal to each other, the positions of the center point candidates EP1 and EP2 are adjusted to be formed at the correct positions, respectively.

At this time, the length of the three-way line (r1, r2, r3 or r4, r5, r6) may be matched to a preset value as the diameter of the ball, or may match the diameter measured through the ball image.

In this manner, as shown in FIG. 12B, two center point coordinates CP1 and CP2 of the ball image area 12 are extracted.

On the other hand, it is preferable that the axis of the movement direction passes through the center of the ball image region, and the axis of the movement direction estimated by the method shown in FIGS. 6 to 10 does not exactly penetrate the center of the ball image region.

In such a case, it is preferable to adjust the position of the movement direction axis so that the estimated movement direction axis can accurately penetrate the center of the ball image area.

As shown in (a) of FIG. 13, the vertical thicknesses through which the moving direction axis 13 penetrates the ball image area 12 should be substantially the same, so that the moving direction axis shown in FIG. It is preferable to shift (Shift) the position of the movement direction axis 13 by the difference between the lower thickness t1 and the upper thickness t2 of 13).

13B shows a state in which the movement direction axis is moved to the center line CL passing through the center of the ball image area 12 in the manner described above.

On the other hand, with reference to Figure 14 will be described in the flow chart of an embodiment of the object motion sensing method according to the present invention.

As shown in FIG. 14, a trigger signal is first applied by the signal generator so that the camera apparatus and the strobe apparatus acquire the multiple exposure image with respect to the motion state of the object at predetermined cycles, respectively (S10).

At this time, by detecting the initial position of the ball to recognize (S20). In operation S30, various image preprocessing steps are performed to remove a background image and various noises of the acquired multiple exposure image.

By generating a plurality of lines penetrating each image area on the preprocessed image as described above (S40), and extracting the line with the shortest linear distance from the initial position of the ball to each generated line (S50), Estimate the axis of motion.

At this time, when the distance from the initial position of the ball to the line forming the shortest distance is smaller than the set distance, the corresponding line is extracted as the axis of movement direction (S61).

If the distance from the initial position of the ball to the line forming the shortest distance is larger than the set distance, the axis of motion estimated by the steps S40 and S50 is assumed to be incorrectly estimated, and the process for estimating the second direction of motion proceeds. .

That is, by collecting the images for two or more frames of the pre-processed image (S62), a predetermined angle line scan around the initial position of the ball (S63).

In this case, a cost function (see FIG. 10) for pixel values of each image area on each scan line is calculated (S64), and a scanline having a maximum value among the calculated cost functions is extracted as an axis of movement direction (S65).

As described above, by extracting and analyzing an image of a ball among the extracted image areas on the axis of motion (S70), the coordinates of the center point of the ball may be finally obtained (S80).

10: Golf ball, 12, 12-1, 12-2, 12-3: Nested ball image area
20: swing plate, 30: strike mat, 40: screen
100: simulator, 110: database
120: image processing unit, 130: image output unit
210: signal generator, 220: sensing processor
310, 320: camera unit, 330: strobe unit

Claims (14)

A sensor unit which acquires a multiple exposure image of a plurality of frames of a moving object; And
First motion direction estimating means for estimating the motion direction of the object based on the positional information of the initial object, second motion direction estimating means for estimating the motion direction of the object from pixel values of each image area on the multiple exposure image; A sensing processor including an analyzing means for extracting and analyzing an image of an object in an image area on the motion direction estimated by at least one of the first motion direction estimating means and the second motion direction estimating means;
Object motion sensing device comprising a. According to claim 1, wherein the first direction of motion estimation means,
Line generation means for selecting at least two points of each image area on the multiple exposure image and generating a line connecting each other;
And a line extracting means for extracting, as the movement direction axis of the object, a line having a shortest distance from the position of the initial object among the generated lines. The method of claim 1, wherein the second direction of motion estimation means,
Image collecting means for collecting the multiple exposure images of the at least two frames into one;
Line scanning means for checking a pixel value of an image area on each scan line by scanning a predetermined angle line around the position of the initial object;
And axis extracting means for extracting the scan line in the case where the scan line has the largest pixel value among the scan lines by the line scanning means as the direction of motion of the object. The method of claim 2,
And the second movement direction estimating means is configured to be executed when the distance between the line extracted as the movement direction axis by the line extracting means and the position of the initial object is larger than a set value. A sensor unit for acquiring multiple exposure images of a plurality of frames with respect to the moving ball; And
A motion direction estimating means for generating a line passing through each image area on the multiple-exposure image and estimating the line closest to the initial ball position as the direction of motion of the ball, and an image about the ball among the image areas on the estimated motion direction. Sensing processing unit including an analysis means for extracting and analyzing;
Object motion sensing device comprising a. The method of claim 5, wherein the sensing processing unit,
The multi-exposure images of the at least two frames are collected into one line, and a predetermined angle line scan is performed around the initial ball position to calculate a function value based on the pixel value of each image area. The object motion sensing apparatus further comprises a movement direction extraction means for extracting. The method of claim 6,
And the motion direction extracting means is configured to be executed when the distance between the line estimated as the motion direction axis by the motion direction estimation means and the initial ball position is larger than a set value. A sensor unit for acquiring multiple exposure images of a plurality of frames with respect to the moving ball; And
The multi-exposure images of the at least two frames are collected into one line, and a predetermined angle line scan is performed around the initial ball position to calculate a function value based on pixel values of each image region, thereby extracting a scan line having a maximum value as the direction of motion of the ball. A sensing processor including a moving direction extracting means and an analyzing means for extracting and analyzing an image of a ball from each image area on the extracted moving direction;
Object motion sensing device comprising a. Acquiring multiple exposure images of multiple frames for a moving ball;
Recognizing an initial position of a ball on the multiple exposure image;
Generating a line passing through each image area on the multiple exposure image, respectively;
Estimating the line of the distance closest to the initial position among the generated lines as the direction of movement of the ball; And
Extracting and analyzing an image of a ball of each image area on the estimated movement direction;
Object movement sensing method comprising a. 10. The method of claim 9,
And comparing the distance between the line estimated as the direction of motion of the ball and the initial position of the ball with a set value,
If the distance is smaller than the set value, the object motion sensing method, characterized in that for performing the analyzing step by setting the corresponding line as the direction of movement axis. 10. The method of claim 9,
And comparing the distance between the line estimated as the direction of motion of the ball and the initial position of the ball with a set value,
When the distance is greater than the set value, combining multiple exposure images of the at least two frames into one;
Calculating a predetermined function value based on pixel values of each image area by scanning a predetermined angle line around the initial position in the combined image;
And extracting a scan line having a maximum value among the calculated function values as a direction of movement of the ball. Acquiring multiple exposure images of multiple frames for a moving ball;
Recognizing an initial position of a ball on the multiple exposure image;
Combining the multiple exposure images of the at least two frames into one;
Calculating a predetermined function value based on pixel values of each image area by scanning a predetermined angle line around the initial position in the collected image;
Extracting a scan line having a maximum value among the calculated function values as a direction of movement of a ball; And
Extracting and analyzing an image region of a ball from each of the image regions on the estimated movement direction;
Object movement sensing method comprising a. The method of claim 11 or 12, wherein calculating the function value comprises:
Calculating a first value for the sum of pixel values along the scanline for each image area;
Calculating a second value of a sum of pixel values of a corresponding image area along one side line generated at one side of the scan line at intervals of a predetermined value as the radius of the ball;
Calculating a third value relating to a sum of pixel values of a corresponding image area along the other line generated at intervals of the radius on the other side of the scan line;
And calculating a value obtained by subtracting the second value and the third value from the first value. A sensor unit including a camera device and a strobe device for acquiring a multiple exposure image of a golf ball hit by a golfer and moving;
First processing means for extracting an object image region in which the images of the object moving by the multiple exposures overlap each other in the multiple exposure image, and generating and correcting at least two center point candidates for the extracted object region image; A sensing processor including second processing means for extracting at least two center points of the object region image;
A converting unit converting the coordinates of the center point extracted by the sensing processing unit into three-dimensional coordinates; And
A simulator for simulating a trajectory of a golf ball by calculating physical information about a golf ball moving based on the three-dimensional coordinates;
Virtual golf simulation device comprising a.

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