KR101801126B1 - Apparatus and method for calculating motion of object - Google Patents

Abstract

The present invention relates to an apparatus and method for measuring the speed of a rotating body and recognizing a spin using a line scan. The present invention acquires a line scan image using only a part of the line scan camera, and calculates a three-dimensional velocity and a three-dimensional spin of the rotating body as a composite image combining the line scan image. The present invention can provide a realistic game or training at a low price by providing a realistic physics simulation of a rotating body by using a conventional low-cost camera and being cost competitive in producing a product.

Description

[0001] Apparatus and method for calculating object motion [0002]

The present invention relates to an apparatus and a method for calculating motion of an object. More particularly, the present invention relates to an apparatus and method for measuring initial velocity and spin of a struck rotating body.

In a simulation game, techniques for measuring the speed and spin of a rotating body are based on a laser sensor or a high-speed area scan camera. Folcatron's GolfAchiever system is used as a rotating speed and spin measurement system using a laser sensor, and High Definition Golf system of Interactive Sports Technologies of Canada is a spin speed and spin measurement system using a high speed area scanning camera.

However, the system using the laser sensor calculates the firing rate and spin rate of the rotating body through the swing path and the club head speed analysis based on the laser image of the club, the rotating body (ex. Although this method is advantageous in precision, it is disadvantageous in that it is difficult to apply it to low-priced arcade games because of the inconvenience that the laser sensor and the laser ray filming apparatus are expensive and the safety of the laser apparatus must be secured.

The system using the high-speed area scan camera is a QuadVision system that uses four high-speed cameras and stereoscopic vision technology to measure the rotation speed (ball) and the speed, direction, rotation axis, Three-dimensional reconstruction is possible. However, since the system cost is high due to the use of four high-speed cameras, this also has a disadvantage that it is difficult to apply to low-priced arcade games, and there is also a problem that synchronization and maintenance among a plurality of cameras are not easy.

SUMMARY OF THE INVENTION The present invention has been conceived in order to solve the above-described problems, and it is an object of the present invention to provide a line scan image processing method, And an object motion calculation apparatus and method for calculating an object motion.

SUMMARY OF THE INVENTION The present invention has been made in order to achieve the above object, and it is an object of the present invention to provide an image capturing device capable of capturing a line scan image at high speed by adjusting only a part of an existing area scan camera, Ring device.

The present invention also provides a method for capturing an image, comprising: causing one or several discrete lines to operate using any line scan image capturing device; capturing a plurality of successive rotator motion images for the discrete line; Generating a composite image by combining a plurality of consecutive rotator motion images for each of the lines; calculating a three-dimensional velocity vector of the rotator using the composite image of one or several lines; And a step of calculating a three-dimensional spin vector of the rotating body by using a composite image of one or several lines.

Preferably, the step of generating a composite image for each line computes time coherence information for a plurality of successive rotator motion images to be combined to generate a composite image.

Preferably, the step of calculating the three-dimensional velocity vector of the rotating body calculates the three-dimensional velocity of the rotating body using a method of extracting and tracking a center point of a composite image of two or more lines.

Preferably, the step of calculating the three-dimensional spin vector of the rotating body calculates a three-dimensional spin of the rotating body using a singularity point extraction and tracking method for a composite image of two or more lines. More preferably, the method of calculating the rotating body spin using a singular point is a method of calculating a three-dimensional object coordinate system (Material Frame) using three or more singular points in a composite image of each line, The three-dimensional spin of the rotating body is calculated using the coordinate system information.

Preferably, the step of calculating the three-dimensional velocity vector and the spin vector of the rotating body calculates the change in curvature of the arc of the outer circumference of the rotating body in the line scan image constituting the composite image to calculate the depth change of the center point and the singular points Then, this depth change is combined with the two-dimensional coordinate change to calculate the three-dimensional velocity and spin of the rotating body.

The present invention has the following effects. First, by acquiring a plurality of line scan images by driving only some lines in a low-speed low-speed camera, the system can be configured at a low cost with the same effect as a high-speed camera. Second, the velocity vector and the spin vector of the rotating body can be calculated by combining the line scan images captured every fixed time according to the motion of the rotating body to generate a composite image. Third, a content (ex. Game content) that provides a realistic physics simulation can be generated by using the velocity vector and the spin vector calculated based on the composite image as data.

1 is a block diagram schematically showing an object motion calculation apparatus according to a preferred embodiment of the present invention.
2 and 3 are block diagrams showing in detail the internal structure of the object motion calculation apparatus.
4 is a diagram showing an embodiment of this object motion calculation apparatus.
5 is a block diagram showing a camera for capturing a line scan image in the present embodiment.
FIG. 6 is a diagram illustrating a method of capturing a plurality of line scan images for each line through a camera in the present embodiment.
7 is a view showing a composite image obtained in the present embodiment.
8 is a flowchart illustrating an object motion calculation method according to a preferred embodiment of the present invention.
FIG. 9 is a flowchart sequentially illustrating a line scan camera device-based speed and a spin recognition method according to an exemplary embodiment.

Hereinafter, the operation principle of the present invention will be described in detail with reference to the accompanying drawings. In the following description of the present invention, detailed description of known functions and configurations incorporated herein will be omitted when it may make the subject matter of the present invention rather unclear. The following terms are defined in consideration of the functions of the present invention, and these may be changed according to the intention of the user, the operator, or the like. Therefore, the definition should be based on the contents throughout this specification.

1 is a block diagram schematically showing an object motion calculation apparatus according to a preferred embodiment of the present invention. 2 and 3 are block diagrams showing in detail the internal structure of the object motion calculation apparatus. The following description refers to Fig. 1 to Fig.

1, an object motion calculation apparatus 100 includes an image acquisition unit 110, an image generation unit 120, a motion calculation unit 130, a power source unit 150, and a main control unit 160.

The object motion calculation apparatus 100 is an apparatus for measuring an initial velocity and a spin of a struck revolving body. The object motion calculation device 100 is a device that uses a camera that shoots a player who is hit, thrown, kicked or rolled during a sports arcade game with a high-speed effect using only one or several lines of a low-cost camera, and a composite image And a controller for restoring the initial trajectory and rotation of the rotating body and calculating the three-dimensional speed and spin of the rotating body. In this embodiment, the image obtaining unit 110 may be implemented by a camera, and other components may be implemented by a control unit. The functions of the camera and the control unit will be described later with reference to Figs.

The image obtaining unit 110 performs a function of line scanning at least two sides of a rotating object to obtain a first image for each side. Preferably, the image obtaining unit 110 performs line scanning on one side of the object including the boundary line associated with the object.

The image generator 120 combines the acquired first images to generate a second image including the objects. The image generation unit 120 may include a temporal coherence information calculation unit 121 and an image combination unit 122 as shown in FIG. At this time, the temporal coherence information calculation unit 121 calculates time coherence information for each first image. The image combining unit 122 performs a function of combining the first images with each other according to the calculated time coherence information to generate a second image.

The motion calculation unit 130 calculates the amount of motion variation of the object based on the generated second images. The motion calculation unit 130 may include a reference point extraction unit 131 and a motion variation calculation unit 132 as shown in FIG. 2 (b). The reference point extracting unit 131 extracts a predetermined reference point from each second image. The reference point includes a center point, a singular point, and the like. The motion change amount calculation unit 132 calculates the three-dimensional position change amount of the reference point, the velocity component of the object, and the spin component of the object based on the extracted reference points. For example, when calculating the velocity component of the object, the motion variation calculation unit 132 may use the center point as a reference point, and use a singular point as a reference point when calculating the spin component of the object.

3 (a), the motion change amount calculation unit 132 calculates a change amount of the three-dimensional position of the reference point based on the amount of change of the movement, the curvature change amount calculation unit 141, the depth change amount calculation unit 142, A position change amount calculation unit 143 and a second position change amount calculation unit 144. [ The curvature change amount calculation unit 141 calculates a curvature change amount of a boundary line (e.g., an outer arc) associated with an object for each second image. The depth variation calculating unit 142 calculates the depth variation of the reference point based on the curvature change amount for each second image. The first position change amount calculation unit 143 calculates the two-dimensional position change amount of the reference point from the second images. The second position change amount calculation unit 144 calculates the three-dimensional position change amount of the reference point based on the depth change amount and the two-dimensional position change amount.

3 (b), the motion variation calculation section 132 calculates the velocity component of the object based on the third position variation amount calculation section 145, the time variation amount calculation section 146 and the velocity component And a calculation unit 147 may be included. The third position change amount calculation unit 145 calculates a position change amount between the second images by obtaining a position component (ex 3-dimensional position vector) with respect to the reference point in each second image. The temporal variation calculating unit 146 calculates the temporal variation between the second images based on the positional component calculated for each second image. The velocity component calculation unit 147 calculates the velocity component of the object based on the position change amount and the time change amount.

When calculating the spin component of the object based on the amount of movement variation, the reference point extracting unit 131 extracts a singular point having a different coordinate value from each second image as a reference point, and the motion variation calculating unit 132 calculates An individual coordinate system calculation unit 148 and a spin component calculation unit 149 as shown in FIG. The individual coordinate system calculation unit 148 calculates the three-dimensional object coordinate system for the second images using the extracted singularities. The spin component calculation unit 149 calculates the spin component of the object based on the three-dimensional object coordinate system.

On the other hand, the motion variation calculation unit 132 can calculate the spin component of the object using the motion blur characteristic of each second image. The motion variation calculation unit 132 may also model the three-dimensional motion of the object based on the second images, and calculate the spin component of the object based on the three-dimensional shape of the object constructed by modeling.

The power source unit 150 performs a function of supplying power to each unit constituting the object motion calculation apparatus 100.

The main control unit 160 controls the overall operation of each unit constituting the object motion calculation apparatus 100.

Next, the object motion calculation apparatus 100 will be described with reference to an embodiment. The present invention relates to a speed and / or spin measurement (or recognition) device and / or method of a rotating body which drives only one or a plurality of lines of a camera and has the same effect as a high-speed camera. In the present invention, a plurality of line scan images are captured by driving only one or a plurality of lines of a camera, a plurality of line scan images captured for respective lines are combined to generate a composite image, and a curvature , And calculates the velocity and / or the spin of the rotating body based on the calculated coordinate change.

FIG. 4 is a block diagram showing the configuration of a speed measuring device and a spin measuring device 400 according to an embodiment. 4, the speed and / or spin measuring device 400 of the rotating body includes a camera 410 and a control unit 420.

The present apparatus 400 is intended to recognize a three-dimensional velocity vector of a rotating body and a three-dimensional spin vector. It is a high-speed line scan image capturing method in which only a few lines are scanned from an existing camera device using only linescan Device. The present apparatus 400 can obtain an effect of accurately recognizing the three-dimensional velocity and spin of the rotating body when the rotating body is fired.

The camera 410 processes image frames such as still images or moving images obtained by at least one image sensor. That is, corresponding video data obtained by the image sensor according to the codec (CODEC) is decoded according to each standard. The image frame processed by the camera 410 may be displayed on a display unit (not shown) under control of the control unit 420 or may be stored in a storage unit (not shown).

Then, the camera 410 captures (photographs) a line scan image of an arbitrary rotating body under the control of the control unit 420. 5, the 480x640 camera 410 may capture an area image composed entirely of 640 lines at a rate of 30 frames per second, instead of capturing 30 frames per second, Only one line (e.g., one line or two lines) is captured. Thus, for example, if the camera 410 captures one line, the camera 410 can capture line scan images at 640 x 30 = 19200 frames per second. In another example, if the camera 410 captures two lines (e.g., line A and line B), the camera 410 may capture a line scan image at 320 x 30 = 9600 frames per second.

FIG. 6 shows eight line images for each line captured by the two pre-set line scan cameras 410 according to one embodiment. For example, when the speed of the rotating body is 180 km / h, that is, 50 m / sec, and the diameter of the rotating body is 0.05 m, the time required for the rotating body to move its own diameter distance is 0.05 m / ) = 0.001 sec. Thus, the two line scan camera 410 captures 9600 line images per second, so each line captures 9600 x 0.001 = 9.6 times the rotation. Further, if the rotating body is smaller, the camera 410 can capture the rotating body about eight times, which can be an embodiment as shown in FIG. Further, if the rotator is slower, the camera 410 may capture a greater number of line images.

In addition, the camera 410 may constitute one input unit (not shown) together with a microphone (not shown). Here, the input unit receives a signal corresponding to a button operation by the user, or receives a command or a control signal generated by an operation such as touching / scrolling the displayed screen.

The input unit may include a keyboard, a key pad, a dome switch, a touch pad (static / static), a touch screen, a jog shuttle, a jog wheel, a jog switch, Various devices such as a mouse, a stylus pen, a touch pen, and a laser pointer may be used. At this time, the input unit receives a signal corresponding to an input by various apparatuses.

The microphone receives an external acoustic signal including a sound signal due to movement of the rotating body by a microphone, and converts the received external acoustic signal into electrical data. The converted data is output through a speaker (not shown). In addition, various noise reduction algorithms may be applied to the microphone in order to remove noise generated in receiving an external sound signal.

The control unit 420 controls the speed of the rotating body and / or the overall operation of the spin measuring apparatus 400.

The control unit 420 combines a plurality of line scan images captured by the camera 410 for each of at least one predetermined line to generate a composite image for each line. That is, the control unit 420 calculates time coherence information for a line scan image of a plurality of continuous rotating bodies to be combined, combines a plurality of line scan images based on the calculated time coherence information, . 7, the control unit 420 combines the eight line scan images obtained for each of the two lines in FIG. 6 to generate a composite image for each of the two lines, Restore the rotation. Here, FIG. 7A shows a composite image combining a plurality of line scan images scanned (captured) from line A in FIG. 6, and FIG. 7B shows a plurality of line scanned images scanned from line B in FIG. Represents a composite image that combines line scan images. In such a line scan image constituting a composite image, the curvature of a part of the outer arc of the rotator (for example, a spherical shape) may be constant or variable. That is, when the curvature of the rotating body is constant, the depth is constant with respect to the camera 410, and when the curvature of the rotating body is changed, the depth is changed with respect to the camera 410. Therefore, the depth change can be known based on the curvature change, and the three-dimensional coordinate change can be confirmed by combining the depth change and the two-dimensional coordinate change.

For example, when the actual radius of the rotating body is a and the distance between the rotating body and the camera 410 is z0 and the arc radius of the captured line scan image is r0, the arc radius of the first and last line scan images is ri And rf, the controller 120 can calculate the lengths zi and zf of the first and the last line scan captured revolutions as follows.

If the coordinate of the center point of the composite image is (x, y), the control unit 420 can calculate the three-dimensional coordinates (x, y, t) of the rotating body as follows.

The control unit 420 calculates a three-dimensional velocity vector and / or a three-dimensional spin vector of the rotating body based on the generated composite image. That is, the controller 420 calculates the three-dimensional velocity of the rotating body using the center point extraction and tracking method for the composite image. Further, the control unit 420 calculates the three-dimensional spin of the rotating body using the minutiae point extraction and tracking method for the generated composite image. At this time, the controller 420 calculates a three-dimensional (3D) object frame using at least three minutiae (or singular points) in the composite image, and uses the calculated two or more three- Dimensional spin can be calculated. The control unit 420 calculates the curvature change of the outer arc of the rotating body of the line scan image constituting the composite image, calculates the depth change of the center point and the singular points, combines the calculated depth change with the two- The three-dimensional velocity and the spin of the rotating body of Fig.

Then, the controller 420 provides the calculated three-dimensional velocity and / or spin of the rotating body to an arbitrary terminal. The terminal can provide a realistic physics simulation of the motion trajectory such as the fly motion of the rotating body or the ground motion using the three-dimensional velocity and / or spin of the rotating body as an initial value, Content may be provided.

The speed and spin measurement apparatus 400 of the rotating body may further include a storage unit (not shown) for storing the speed of the rotating body and / or data and programs necessary for the spin measurement apparatus 400 to operate. In this case, the storage unit may include an algorithm for center point extraction and tracking for arbitrary images used to calculate velocity vectors of the rotating body, an algorithm for extracting and tracking feature points for arbitrary images used to calculate the spin vector of the rotating body, and the like .

The storage unit may be a flash memory type, a hard disk type, a multimedia card micro type, a card type memory (for example, SD or XD memory) A random access memory (SRAM), a read-only memory (ROM), a programmable read-only memory (PROM), an electrically erasable programmable read-only memory (EEPROM) Only Memory < / RTI >

The speed and / or spin measuring device 400 may further include a display unit (not shown) for displaying an image (image) captured through the camera 410 under the control of the control unit 420. The display unit may include a liquid crystal display (LCD), a thin film transistor liquid crystal display (TFT LCD), an organic light-emitting diode (OLED), a flexible display, , A field emission display (FED), and a three-dimensional display (3D display).

Further, the display may have two or more displays depending on the speed of the rotating body and / or the implementation of the spin measuring device 400. [ For example, the speed of the rotating body and / or the plurality of displays on the spin measuring apparatus 400 may be spaced apart or arranged integrally on one surface (the same surface), and may be disposed on different surfaces, respectively.

The display may be used as an input device in addition to an output device when a sensor for sensing a touch operation is provided. That is, when a touch sensor such as a touch film, a touch sheet, or a touch pad is provided on the display, the display can operate as a touch screen.

The speed and / or spin measuring device 400 of the rotating body may further include a communication unit (or a wireless communication module) performing a wire / wireless communication function with any external terminal. At this time, the communication unit may include a module for wireless Internet access or a module for short range communication. Here, the wireless Internet technology includes a wireless LAN (WLAN), a wireless broadband (Wibro), a Wi-Fi, a World Interoperability for Microwave Access (Wimax), a High Speed Downlink Packet Access ), Etc., and the short range communication technology may include Bluetooth, ZigBee, UWB (Ultra Wideband), RFID (Radio Frequency Identification), Infrared Data Association (IrDA) have. The wired communication technology may include USB (Universal Serial Bus) communication and the like.

As described above, the rotational speed and / or spin measuring device 400 drives at least one line in the camera to capture a plurality of line scan images for each line, combines the captured line scan images, , And calculates the speed and / or spin of the rotating body based on the generated composite image.

Next, a method of measuring the speed and / or spin of the rotating body according to one embodiment will be described. The following description will be made with reference to Figs. 4 to 7. Fig.

First, the camera 410 generates a plurality of line scan images (or a plurality of continuous rotator motions) for any moving (moving) rotator for at least one predetermined line (one or a plurality of lines) Image). Here, any moving rotating body may be a rotating body that is hit, thrown, kicked or rolled by any user with or without a tool (golf club, bat, etc.).

As an example, the camera 410 captures a plurality of consecutive line scan images for each line for two preset lines (line A and line B), as shown in Fig.

The control unit 420 combines a plurality of line scan images for each line captured by the camera 410 to generate a composite image. That is, the controller 420 calculates time coherence information for a plurality of consecutive line scan images for each line captured by the camera 410, and combines a plurality of line scan images based on the calculated time coherence information, Create an image.

6 and 7, the control unit 420 combines the line scan images of the eight consecutive rotators obtained for each of the two lines (line A and line B) A composite image is generated.

Then, the controller 420 calculates the three-dimensional velocity vector of the rotating body based on the generated composite image. That is, the control unit 420 obtains the three-dimensional position vector of the center point of the rotating body with respect to the generated composite image, and tracks the change with time. Then, the control unit 420 obtains a three-dimensional velocity vector of the rotating body from the difference between the three-dimensional position vectors of the center point of the rotating body and the time difference.

For example, when the coordinates of the center points of the first and second composite images are (x1, y1, z1) and (x2, y2, z2) and the time difference is dt, the controller 420 determines the three- .

Here, z1 and z2 can be obtained by using equations (2) and (3), and z1 = (zi1 + zf1) / 2 and z2 = (zi2 + zf2) / 2.

Then, the control unit 420 calculates the three-dimensional spin vector of the rotating body based on the generated composite image. That is, the control unit 420 obtains the three-dimensional position vectors of the minutiae points of the rotating body with respect to the generated composite image, and tracks changes with time. The control unit 420 obtains the three-dimensional spin vector of the rotating body from the difference between the three-dimensional position vectors of the minutiae of the rotating body and the time difference. At this time, the controller 420 directly obtains the spin based on the motion blur characteristic on the image generated by the continuous motion for the exposure time from the single scan line image of the rotating body, the 3D motion model based feature And the method of obtaining the spin can be used to obtain the three-dimensional spin vector of the feature point-based rotating body.

For example, the control unit 420 calculates a three-dimensional object coordinate system based on three or more minutiae points in the generated composite image, and calculates a three-dimensional spin of the rotary body based on the calculated two or more three-dimensional coordinate system information.

In the line scan image of the continuous rotating body constituting the composite image, the curvature of a part of the outer arc of the rotating body may be constant or vary, and when the curvature of the rotating body is constant, The depth change can be confirmed based on the curvature change using the characteristic that the depth is changed, and the change in the three-dimensional coordinate can be confirmed by combining the detected depth change and the two-dimensional coordinate change.

That is, when calculating the three-dimensional velocity vector or the spin vector of the rotating body, the controller 420 calculates the curvature change of the outer arc of the rotating body of the line scan image constituting the composite image, Respectively, and calculate the three-dimensional velocity vector and the spin vector of the rotating body by combining the calculated depth variation and the two-dimensional coordinate change.

Next, an object motion calculation method of the object motion calculation apparatus 100 will be described. 8 is a flowchart illustrating an object motion calculation method according to a preferred embodiment of the present invention. The following description refers to Fig.

First, at least two sides of the rotating object are line scanned to acquire a first image for each side (image acquiring step, S800). In the image acquiring step (S800), one side of the object including the boundary line related to the object is line scanned.

After the image acquisition step S800, the acquired first images are combined to generate a second image including the object (image generation step, S810). The image generating step S810 may include a time coherence information calculating step and an image combining step. In the time coherence information calculation step, time coherence information is calculated for each first image. In the image combining step, the first images are combined with each other according to the calculated temporal coherence information to generate a second image.

After the image generation step S810, the motion variation of the object is calculated based on the generated second images (motion calculation step, S820). The motion calculation step S820 may include a reference point extraction step and a motion variation amount calculation step. In the reference point extracting step, a predetermined reference point is extracted from each second image. In the motion variation calculation step, the three-dimensional position change amount of the reference point, the velocity component of the object, and the spin component of the object are calculated based on the extracted reference points.

When calculating the three-dimensional position change amount of the reference point by the amount of motion variation, the motion variation amount calculation step may be composed of a curvature variation amount calculation step, a depth variation amount calculation step, a first position variation amount calculation step and a second position variation amount calculation step. In the curvature change amount calculation step, the curvature change amount of the boundary line associated with the object is calculated for each second image. In the depth variation calculation step, the depth variation amount of the reference point is calculated based on the curvature variation amount for each second image. In the first position change amount calculation step, the two-dimensional position change amount of the reference point is calculated from the second images. In the second position change amount calculation step, the three-dimensional position change amount of the reference point is calculated based on the depth change amount and the two-dimensional position change amount.

In calculating the velocity component of the object by the amount of motion variation, the motion variation amount calculation step may be composed of a third position variation amount calculation step, a time variation amount calculation step, and a velocity component calculation step. In the third positional variation calculation step, the positional component with respect to the reference point is calculated in each second image, and the positional variation between the second images is calculated. In the time variation calculation step, the temporal variation between the second images is calculated on the basis of the position component calculated for each second image. In the velocity component calculation step, the velocity component of the object is calculated based on the position variation amount and the time variation amount.

In calculating the spin component of the object by the amount of motion variation, a singular point having a different coordinate value from each second image is extracted as a reference point in the reference point extracting step, and the motion variation calculating step may include an individual coordinate system calculating step and a spin component calculating step . In the calculation of the individual coordinate system, a three-dimensional object coordinate system for the second images is calculated using the extracted singularities. In the spin component calculation step, the spin component of the object is calculated based on the three-dimensional object coordinate system.

FIG. 9 is a flowchart sequentially illustrating a line scan camera device-based speed and a spin recognition method according to an exemplary embodiment.

In S900, in the simulation game, a plurality of line scan images are obtained for each line by performing image capture with a line scan device, which is hit, thrown, kicked or rolled by a user. Next, in S910, the line scan images obtained in S900 are combined to generate a composite image. Two such composite images are generated for a two line scan camera. Next, in step S920, the three-dimensional position vector of the center point of the rotating body is obtained for each of the two composite images obtained in step S910, and the change over time is tracked. Next, in S930, the three-dimensional velocity vector of the rotating body is obtained from the difference between the three-dimensional position vectors of the central points and the time difference. Next, in step S940, the three-dimensional position vectors of the feature points of the rotating body are obtained for each of the two composite images obtained in step S910, and the change over time is tracked. Next, in S950, a three-dimensional spin vector of the rotating body is obtained from the difference between the three-dimensional position vectors of the feature points and the time difference.

Using the three-dimensional velocity and spin as the initial values of the rotating body obtained from the above, realistic physics simulation of the motion trajectory such as the fly motion of the rotating body and the ground motion can be provided and realistic simulation-based game or training contents can be provided Do. The speed and spin recognition method of FIG. 9 is based on the low-cost camera device of FIG. 5, so that it can be expected to be useful for developing realistic low-cost games or training systems. However, realistic physics simulation methods and game or training content creation are beyond the scope of the present invention and are not specifically addressed in the present invention.

While the invention has been shown and described with reference to certain preferred embodiments thereof, it will be understood by those skilled in the art that various changes and modifications may be made without departing from the spirit and scope of the invention. Therefore, the scope of the present invention should not be limited to the described embodiments, but should be determined by the scope of the appended claims, and equivalents thereof.

The present invention relates to an apparatus and method for capturing a line scan image and measuring the speed of a rotating body based on the line scan image and recognizing a spin, Can be applied to the arcade game field or the sports game field.

100: object motion calculation device 110:
120: image generation unit 121: time coherence information calculation unit
122: image combining unit 130: motion calculating unit
131: Reference point extracting unit 132: Motion variation calculating unit
141: Curvature change amount calculation unit 142: Depth change amount calculation unit
143: First position change amount calculation unit 144: Second position change amount calculation unit
145: Third position change amount calculation unit 146: Time change amount calculation unit
147: velocity component calculation unit 148: individual coordinate system calculation unit
149: Spin component calculation unit 410:
420:

Claims (14)

An image obtaining unit for line-scanning at least two sides of the rotating object to obtain a first image for each side;
An image generation unit combining the first images acquired in the same time zone to generate a second image including the object; And
A motion calculation unit for calculating a motion variation amount of the object based on the generated second images,
Lt; / RTI >
Wherein the motion calculation unit
Calculating a curvature change amount of a boundary line associated with the object using the first images obtained by line-scanning the object combined with the second image,
And calculates a variation amount of motion of the object by calculating a depth variation of a predetermined reference point of the object in the second image based on the curvature variation amount calculated using the first images. The method according to claim 1,
The image generation unit may include:
A time coherence information calculation unit for calculating time coherence information for each first image; And
And combining the first images according to the calculated time coherence information to generate the second image,
And an object motion calculating unit for calculating an object motion based on the object motion. The method according to claim 1,
Wherein the motion calculation unit
A reference point extracting unit for extracting a predetermined reference point in each second image; And
Calculating a three-dimensional position change amount of the reference point, a velocity component of the object, and a spin component of the object based on the extracted reference points;
And an object motion calculating unit for calculating an object motion based on the object motion. The method of claim 3,
Wherein the motion variation calculation unit comprises:
A curvature change amount calculation unit for calculating a variation amount of a curvature of a boundary line associated with the object for each second image;
A depth variation calculating unit for calculating a depth variation of the reference point based on the curvature change amount for each second image;
A first position change amount calculation unit for calculating a two-dimensional position change amount of the reference point from the second images; And
A second position change amount calculation unit for calculating a three-dimensional position change amount of the reference point with the movement change amount based on the depth change amount and the two-
And an object motion calculating unit for calculating an object motion based on the object motion. The method of claim 3,
Wherein the motion variation calculation unit comprises:
A third positional variation calculation unit for calculating a positional variation component between the second images by obtaining a positional component with respect to the reference point in each second image;
A temporal change amount calculating unit for calculating a temporal change amount between the second images based on a positional component obtained for each second image; And
A velocity component calculation unit for calculating a velocity component of the object with the amount of motion variation based on the position variation amount and the time variation amount,
And an object motion calculating unit for calculating an object motion based on the object motion. The method of claim 3,
Wherein the reference point extracting unit extracts a singular point having a different coordinate value from the second image with the reference point,
Wherein the motion variation calculation unit comprises:
An object coordinate system calculator for calculating a three-dimensional object coordinate system for the second images using the extracted singularities; And
And a spin component calculation unit for calculating a spin component of the object based on the three-
And an object motion calculating unit for calculating an object motion based on the object motion. The method according to claim 1,
Wherein the image acquisition unit line-scans one side of the object including a boundary line associated with the object. An image obtaining step of line-scanning at least two sides of the rotating object to obtain a first image for each side;
Combining the first images acquired at the same time zone to generate a second image including the object; And
A motion calculation step of calculating a motion variation amount of the object based on the generated second images
Lt; / RTI >
Wherein the motion calculation step comprises:
Calculating a curvature change amount of a boundary line associated with the object using the first images obtained by line-scanning the object combined with the second image,
Calculating a variation amount of a motion of the object by calculating a depth variation amount of a predetermined reference point of the object in the second image based on a curvature variation amount calculated using the first images. 9. The method of claim 8,
The image generation step may include:
A time coherence information calculation step of calculating time coherence information for each first image; And
And combining the first images according to the calculated temporal coherence information to generate the second image
And calculating a motion vector of the object. 9. The method of claim 8,
Wherein the motion calculation step comprises:
A reference point extracting step of extracting a predetermined reference point in each second image; And
Calculating a three-dimensional position change amount of the reference point, a velocity component of the object, and a spin component of the object based on the extracted reference points;
And calculating a motion vector of the object. 11. The method of claim 10,
The motion variation calculation step may include:
A curvature change amount calculating step of calculating a curvature change amount of a boundary line associated with the object for each second image;
Calculating a depth variation amount of the reference point based on the curvature variation amount for each second image;
A first position change amount calculating step of calculating a two-dimensional position change amount of the reference point from the second images; And
A second position change amount calculation step of calculating a three-dimensional position change amount of the reference point by the amount of movement variation based on the depth variation amount and the two-
And calculating a motion vector of the object. 11. The method of claim 10,
The motion variation calculation step may include:
A third position change amount calculation step of calculating a position change amount between the second images by obtaining a position component with respect to the reference point in each second image;
A time variation calculation step of calculating a temporal variation amount between the second images based on a position component obtained for each second image; And
A velocity component calculation step of calculating a velocity component of the object with the amount of motion variation based on the position variation amount and the time variation amount
And calculating a motion vector of the object. 11. The method of claim 10,
Wherein the extracting step extracts a singular point having a different coordinate value from the second image with the reference point,
The motion variation calculation step may include:
An object coordinate system calculation step of calculating a three-dimensional object coordinate system for the second images using the extracted singularities; And
A spin component calculation step of calculating a spin component of the object based on the three-dimensional object coordinate system
And calculating a motion vector of the object. 9. The method of claim 8,
Wherein the image acquiring step line-scans one side of the object including the boundary line associated with the object.

Images