KR101971060B1 - Module type high speed photographing apparatus, apparatus and method for sensing of ball motion based on high speed photographing - Google Patents

Abstract

A modular high-speed imaging device, a high-speed image-based motion recognition device and method are disclosed. The high-speed image-based blank motion recognition apparatus according to the present invention includes a video information input unit for receiving video information including a plurality of high-speed images corresponding to a motion of a ball, from a modular high- An image preprocessing unit for removing the background of the input image information, a ball detecting unit for detecting the ball area included in the image information, and a ball detecting unit for detecting the ball speed information, the spin information, And position information on the at least one of the at least one of the at least one of the at least two of the plurality of the at least one of the plurality of the at least one of the plurality

Description

TECHNICAL FIELD [0001] The present invention relates to a modular high-speed photographing apparatus, a high-speed image-based ball motion recognizing apparatus, and a method for recognizing the motion of the ball,

The present invention relates to a modular high-speed photographing apparatus, a high-speed image-based ball motion recognition technology, and more particularly to a modular high-speed photographing apparatus capable of changing the configuration according to a sports event, Spin, position, and the like.

A sports simulation game is a technique of recognizing the initial condition of the spinning ball by acquiring the action of the user, such as pitching, throwing or kicking, or the initial movement of the ball, and after the initial value is inputted, A physics simulation technique for simulating the motion of rolling the rear surface, and contents representing the simulated motion animation in the virtual reality space.

Today, sports simulation technology is evolving into realistic simulations that consider ball rotation, air interaction, ball roughness effect, etc., in addition to ball size and mass, in order to increase actual sensibility of users.

Sports simulation technology using balls has been applied to various ball games such as soccer, baseball, golf, tennis, dribbles, and handball. In order to be able to experience, train, coach and play with virtual balls indoors, it is important that the technique of recognizing the ball flight, collision, bouncing and rolling of a hit ball by the user is important.

In general, infrared technology, radar technology, and camera technology are mainly used to recognize ball motion. The infrared method recognizes the motion of the ball using an infrared ray film formed by an infrared light emitting sensor and a light receiving sensor at a point where the ball passes. And the radar system emits radio waves in the direction of movement of the ball, and then recognizes the movement of the ball using the Doppler effect observed in the reflected radio waves.

However, the infrared method recognizes the air velocity at the moment of passing through the infrared ray film, but there is a restriction that the ball position and the spin can not be recognized. In the radar method, But the spin of the ball has constraints that are difficult to perceive.

On the other hand, the camera method recognizing the motion of the ball using the moving ball image obtained by two or more high-speed cameras can recognize the ball speed, spin and position by analyzing the ball image. However, in the camera system according to the related art, only the fixed high-speed camera is used, and the recognition method also supports only the fixed high-speed camera, so that it can be applied only to specific sports events.

Therefore, there is a need to develop a technique that allows accurate recognition of ball speed, spin, and position in various sports events without changing the ball's motion recognition system.

Korean Patent No. 10-100871595, published on December 02, 2008 (name: flight information measurement system of spherical object using high-speed camera)

It is an object of the present invention to change only the configuration of the modular high-speed photographing apparatus according to the sports events of the ball sports without changing the ball-motion recognizing apparatus so that various ball exercises can be recognized.

It is also an object of the present invention to change the configuration of the modular high-speed photographing apparatus so as to be able to recognize ball motions of various sports events as necessary.

It is also an object of the present invention to enable a ball recognition system using a minimum of shooting modules according to sports events.

According to another aspect of the present invention, there is provided a high-speed image-based blank motion recognition apparatus, comprising: a modular high-speed imaging apparatus having a plurality of high-speed images corresponding to a motion of a ball, An image pre-processing unit for receiving input image information, an image preprocessing unit for removing a background of the input image information, a ball detecting unit for detecting an area of the ball included in the image information, And a motion information calculation unit for calculating motion motion information including at least one of velocity information, spin information, and position information.

At this time, the image information may include at least any one of a left high speed image, a right high speed image, a high speed image for ball spin recognition, and a high speed image for ball position recognition corresponding to the motion of the ball.

At this time, the ball detection unit may analyze one or more of the high-speed images and detect the center position of the ball and the radius of the ball.

In this case, the motion information calculation unit may restore the center position of the ball to a spatial position based on the correction information of the modular high-speed photographing apparatus, The speed information of the ball can be calculated using the photographing speed information.

At this time, the motion information calculation unit detects pattern information corresponding to the surface of the ball, rotates the pattern information, matches the predefined blank pattern, and stores the rotation information of the pattern information and the modular high- It is possible to calculate the spin information of the hole using the shooting speed information of the apparatus.

The motion information calculation unit may be configured to project the ball onto the bottom surface using the projection information in which the projection relationship between the image plane and the floor surface is defined and to determine the position of the ball projected on the bottom surface Location.

At this time, the motion information calculation unit restores the center position of the ball to the spatial position based on the correction information of the modular high-speed photographing apparatus, calculates the restored position of the ball in the ball passing position can do.

According to another aspect of the present invention, there is provided a modular high-speed photographing apparatus including a photographing section having a plurality of photographing modules for photographing a high-speed image corresponding to a motion of a ball, A control unit for setting a photographing speed of the module, and a communication unit for transmitting the photographed high-speed images to a high-speed image-based ball motion recognizing device.

Here, the photographing unit may include a plurality of photographing modules, such as a left high speed image photographing module, a right high speed image photographing module, a ball spin recognizing high speed image photographing module, and a ball position recognizing high speed image photographing module.

At this time, the control unit may set the shooting speed of each of the shooting modules so as to correspond to the type of the hole.

At this time, the controller may classify the motion of the hole based on at least one of a hole velocity and a spin velocity, based on the hole type.

At this time, the controller sets the photographing speed of at least one of the left high-speed image-capturing module and the right high-speed image-capturing module on the basis of the ball speed, The imaging speed of the imaging module can be set.

At this time, the communication unit may transmit at least one of the photographing speed information, the projection information, and the correction information of the photographing module to the high-speed image-based blank-motion recognizing device.

Also, a high-speed image-based ball motion recognition method performed by a high-speed image-based ball motion recognition apparatus according to an embodiment of the present invention is a method for recognizing a ball motion from a modular high- The method comprising the steps of: receiving image information including a plurality of high-speed images to be displayed on a screen; removing a background of the received image information; detecting an empty area included in the image information; And calculating the ball motion information including at least one of the ball velocity information, the spin information, and the position information.

At this time, the image information may include at least any one of a left high speed image, a right high speed image, a high speed image for ball spin recognition, and a high speed image for ball position recognition corresponding to the motion of the ball.

The detecting of the blank region may include analyzing at least one of the high-speed images to detect the center position of the blank and the radius of the blank.

The step of calculating the ball motion information may include restoring the center position of the ball to a spatial position based on the correction information of the modular high-speed photographing apparatus, And calculating the speed information of the ball using the photographing speed information of the modular high-speed photographing apparatus.

The step of calculating the blank motion information may include detecting pattern information corresponding to the surface of the hole, rotating the pattern information to match the previously defined blank pattern, and rotating the pattern information And the step of calculating the spin information of the blank using the information and the photographing speed information of the modular high-speed photographing apparatus.

The step of calculating the ball motion information may include the steps of projecting the ball onto the bottom surface using projection information in which a projection relationship between the image plane and the bottom plane is defined, And calculating a position as a starting position of the ball.

The step of calculating the ball motion information may include restoring the center position of the ball to a spatial position based on the correction information of the modular high-speed photographing apparatus, To a passing position of the ball.

According to the present invention, it is possible to recognize various ball movements by changing only the configuration of the modular high-speed photographing device according to the ball sports event without changing the ball motion recognition device.

Further, according to the present invention, it is possible to recognize the ball motion of various sports items by changing the configuration of the modular high-speed photographing device as necessary.

In addition, according to the present invention, it is possible to implement a ball motion recognition system using a minimum shooting module according to sports events.

1 is a block diagram of a high-speed image-based ball motion recognition system according to an embodiment of the present invention.
2 is a block diagram showing a configuration of a modular high-speed photographing apparatus according to an embodiment of the present invention.
FIG. 3 is a block diagram illustrating a configuration of a high-speed image-based blank motion recognition apparatus according to an embodiment of the present invention.
4 is a diagram illustrating an example of a first modular high-speed imaging apparatus according to an embodiment of the present invention.
5 is an exemplary view showing a second modular high-speed photographing apparatus according to an embodiment of the present invention.
6 is a diagram illustrating an example of a third modular high-speed imaging apparatus according to an embodiment of the present invention.
7 is a flowchart illustrating a method of recognizing a blank motion based on a high-speed image according to an embodiment of the present invention.
FIG. 8 is a flowchart showing a method of calculating the empty speed information in step S740 of FIG.
FIG. 9 is a flowchart showing a method of calculating blank spin information in step S740 of FIG.
10 is a flowchart showing a method of calculating the starting position of the ball in step S740 of FIG.
11 is a flowchart showing a method of calculating a hole passing position in step S740 of FIG.
12 is a block diagram illustrating a computer system in accordance with an embodiment of the present invention.

While the invention is susceptible to various modifications and alternative forms, specific embodiments thereof are shown by way of example in the drawings and will herein be described in detail.

It should be understood, however, that the invention is not intended to be limited to the particular embodiments, but includes all modifications, equivalents, and alternatives falling within the spirit and scope of the invention.

The terminology used in this application is used only to describe a specific embodiment and is not intended to limit the invention. The singular expressions include plural expressions unless the context clearly dictates otherwise. In the present application, the terms "comprises" or "having" and the like are used to specify that there is a feature, a number, a step, an operation, an element, a component or a combination thereof described in the specification, But do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, or combinations thereof.

Unless defined otherwise, all terms used herein, including technical or scientific terms, have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. Terms such as those defined in commonly used dictionaries should be interpreted as having a meaning consistent with the meaning in the context of the relevant art and are to be interpreted in an ideal or overly formal sense unless explicitly defined in the present application Do not.

Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the accompanying drawings. In order to facilitate the understanding of the present invention, the same reference numerals are used for the same constituent elements in the drawings and redundant explanations for the same constituent elements are omitted.

1 is a block diagram of a high-speed image-based ball motion recognition system according to an embodiment of the present invention.

As shown in FIG. 1, a high-speed image-based ball motion recognition system includes a modular high-speed imaging device 100 and a high-speed image-based ball motion recognition device 200.

First, the modular high-speed imaging apparatus 100 takes a high-speed image corresponding to the motion of the ball. The modular high-speed imaging apparatus 100 transmits the image information including the photographed high-speed images to the high-speed image-based ball motion recognition apparatus 200.

The modular high-speed photographing apparatus 100 can photograph a high-speed image using a plurality of photographing modules. At this time, the modular high-speed imaging apparatus 100 may include a plurality of imaging modules among a left high-speed imaging module, a right high-speed imaging module, a high-speed imaging module for ball spin recognition, and a high- .

In addition, the modular high-speed imaging apparatus 100 can set a shooting speed of each of the shooting modules so as to correspond to the type of the ball to be shot, and shoot a high-speed image. At this time, the modular high-speed imaging apparatus 100 can classify the ball motion based on at least one of the ball speed and the spin speed based on the ball type.

The modular high-speed imaging apparatus 100 can set the imaging speed of at least one of the left high-speed imaging module and the right high-speed imaging module based on the ball speed. In addition, the modular high-speed imaging apparatus 100 can set the imaging speed of the high-speed imaging module for co-spin recognition based on the spin rate.

The modular high-speed imaging apparatus 100 may transmit at least one of the imaging speed information, the projection information, and the correction information set for each imaging module to the high-speed image-based ball motion recognition apparatus 200.

Next, the high-speed image-based ball-motion recognition apparatus 200 receives image information corresponding to the motion of the ball from the modular high-speed imaging apparatus 100.

Here, the image information includes high-speed images taken by a plurality of photographing modules provided in the modular high-speed photographing apparatus 100. In addition, the image information may include at least any one of a left high speed image, a right high speed image, a high speed image for ball spin recognition, and a high speed image for ball position recognition corresponding to a ball motion.

Then, the high-speed image-based ball motion recognition apparatus 200 removes the background of the input image information and detects a blank region included in the image information. At this time, the high-speed image-based ball motion recognition apparatus 200 can analyze at least one high-speed image and detect the center position of the ball and the radius of the ball.

Also, the high-speed image-based ball motion recognition apparatus 200 calculates ball motion information including at least one of ball speed information, spin information, and position information based on the detected ball region.

The high-speed image-based ball motion recognition apparatus 200 restores the center position of the ball to a spatial position based on the correction information of the modular high-speed imaging apparatus 100, The ball speed information can be calculated using the photographing speed information of the photographing apparatus 200. [

The high-speed image-based ball motion recognition apparatus 200 detects pattern information corresponding to the surface of the ball, and rotates the pattern information to match the previously defined ball pattern. Also, the high-speed image-based ball motion recognition apparatus 200 can calculate the ball spin information using the rotation information of the pattern information and the photographing speed information of the modular high-speed photographing apparatus 100. [

The high-speed image-based ball motion recognition apparatus 200 projects the ball on the floor surface using the projection information defining the projection relationship between the image plane and the floor surface, . The high-speed image-based ball motion recognition apparatus 200 restores the center position of the ball to a spatial position based on the correction information of the modular high-speed imaging apparatus 100, Location.

Hereinafter, a configuration of a modular high-speed imaging apparatus according to an embodiment of the present invention will be described in detail with reference to FIG.

2 is a block diagram showing a configuration of a modular high-speed photographing apparatus according to an embodiment of the present invention.

2, the modular high-speed imaging apparatus 100 includes a photographing unit 110, a control unit 120, and a communication unit 130. [

First, the photographing unit 110 includes a plurality of photographing modules 115 for photographing a high-speed image corresponding to a ball motion.

At this time, the photographing unit 110 may include a plurality of photographing modules 115 among a left high-speed image photographing module, a right high-speed image photographing module, a high-speed image photographing module for recognizing empty spins, and a high- have.

Here, each of the left high speed image capturing module and the right high speed image capturing module captures the left high speed image and the right high speed image. The high speed image capture module for ball spin recognition shoots high speed image for ball spin recognition and the high speed image capture module for ball position recognition shoots high speed image for ball position recognition.

Next, the control unit 120 sets the shooting speed of each of the shooting modules 115 so as to correspond to the type of the ball to be shot. At this time, the controller 120 may classify the ball motion based on at least one of the ball speed and the spin speed based on the ball type.

The control unit 120 can set the photographing speed of at least one of the left high-speed image capturing module and the right high-speed image capturing module based on the ball speed. Also, the control unit 120 can set the shooting speed of the high-speed image shooting module for ball spin recognition based on the spin rate.

For example, when the type of the ball is any one of a golf ball, a baseball ball, and a tennis ball, the controller 120 classifies the ball speed at a high speed and classifies the spin speed at a high speed. The control unit 120 sets the shooting speed of the left high-speed image shooting module and the right high-speed image shooting module at a high speed based on the set ball speed, and based on the set spin speed, The shooting speed can be set to high speed.

On the other hand, when the ball type is any one of a soccer ball, a pitch ball, and a handball ball, the control unit 120 may classify the ball speed into a low speed and classify the spin speed into a low speed. The control unit 120 sets the shooting speed of the left high-speed image shooting module and the right high-speed image shooting module to low speed based on the set ball speed, and based on the set spin speed, The speed can be set to a low speed.

If the ball type is fast but ball spin is slow, the control unit 120 sets the shooting speed of the left high-speed image shooting module and the right high-speed image shooting module high , And the photographing speed of the high-speed image taking module for coarse spin recognition can be set low.

If the ball is slow in ball speed but the ball is spinning fast, the control unit 120 sets the shooting speed of the left high speed image shooting module and the right high speed image shooting module low And the photographing speed of the high-speed image capturing module for ball spin recognition can be set high.

In this way, the control unit 120 can set the shooting speed of the shooting module based on the ball speed and the spin speed, so that the speed of the shooting module can be set differently according to the sports sport event and applied to various sports events.

For convenience of explanation, the control unit 120 sets the shooting speed of each shooting module on the basis of the type of the ball. However, the present invention is not limited thereto, Can be set.

In addition, the controller 120 can trigger at least one of the left high-speed image capturing module, the right high-speed image capturing module, the high-speed image capturing module for ball spin recognition, and the high-

In particular, when the ball passes a specific position in space, the controller 120 can trigger at least one of the high speed image capturing module for the ball speed recognition and the high speed image capturing module for the ball spin recognition.

Finally, the communication unit 130 transmits the image information including the high-speed images to the high-speed image-based ball motion recognition apparatus 200. Also, the communication unit 130 can transmit at least one of the photographing speed information, the projection information, and the correction information set for each photographing module to the high-speed image-based ball-motion recognizing apparatus 200. [

Hereinafter, a configuration of a high-speed image-based blank motion recognition apparatus according to an embodiment of the present invention will be described in detail with reference to FIG.

FIG. 3 is a block diagram illustrating a configuration of a high-speed image-based blank motion recognition apparatus according to an embodiment of the present invention.

3, the high-speed image-based ball motion recognition apparatus 200 includes an image information input unit 210, an image preprocessing unit 220, a ball detection unit 230, and an exercise information calculation unit 240 .

First, the image information input unit 210 receives image information corresponding to the motion of the ball from the modular high-speed imaging apparatus 100. At this time, the image information includes high-speed images photographed by the photographing modules, and at least any one of a left high-speed image, a right high-speed image, a high-speed image for ball spin recognition, and a high- . ≪ / RTI >

The image preprocessing unit 220 removes the background of the received image information. At this time, the image preprocessing unit 220 can remove the background included in the high-speed image and extract the foreground of the high-speed image.

Next, the ball detection unit 230 detects a blank area included in the image information. The ball detecting unit 230 may analyze at least one high-speed image, detect a blank region including at least one of a center position of the ball and a radius of the ball, and detect a blank region for each high-speed image.

In addition, the motion information calculation unit 240 calculates the ball motion information including at least one of the ball velocity information, the spin information, and the position information based on the detected blank region.

At this time, the motion information calculation unit 240 may include a velocity information calculation module, a spin information calculation module, and a position information calculation module.

Based on the correction information of the modular high-speed imaging apparatus 100, the velocity information calculation module restores the center position of the ball to a spatial position. Then, the velocity information calculation module can calculate the ball velocity information using the spatial position of the ball and the shooting speed information of the modular high-speed shooting device 100. [

The spin information calculation module detects pattern information corresponding to the surface of the blank, and the spin information calculation module rotates the pattern information to match the previously defined blank pattern. Further, the spin information calculation module can calculate the blank spin information by using the rotation information of the pattern information and the photographing speed information of the modular high-speed photographing apparatus 100. [

The position information calculation module may calculate the ball position information including at least one of the ball start position and the ball passing position. The position information calculation module can project the ball on the floor surface and calculate the position of the ball projected on the floor surface as the starting position of the ball using the projection information in which the projection relation between the image plane and the floor plane is defined.

Also, the position information calculation module can restore the center position of the ball to the spatial position based on the correction information of the modular high-speed photographing device, and calculate the position of the restored space in the ball as the ball passing position.

Hereinafter, an embodiment of a modular high-speed imaging apparatus according to an embodiment of the present invention will be described in more detail with reference to FIG. 4 through FIG.

4 is a diagram illustrating an example of a first modular high-speed imaging apparatus according to an embodiment of the present invention.

4, the first modular high-speed imaging apparatus 100 includes a left high-speed imaging module 111, a right high-speed imaging module 113, a high-speed imaging module 115 for ball spin recognition, And a high-speed image capturing module 117. [

Each of the left high-speed image capturing module 111 and the right high-speed image capturing module 113 captures the left high-speed image and the right high-speed image for recognizing the ball speed. The high-speed image taken by the left high-speed image capturing module 111 and the right high-speed image capturing module 113 is transmitted to the speed information calculation module 241 of the high-speed image-based ball motion recognition device 200 through the communication unit.

The high-speed image capturing module 115 for capturing a ball spin image captures a high-speed image for recognizing a ball spin, and the high-speed image captured by the high-speed image capturing module 115 for ball- To the spin information calculation module 243 of the high-speed image-based ball-motion recognition device 200 through the high-speed image-

Then, the high-speed image capturing module 117 for capturing a ball image recognizes a high-speed image for recognizing a ball for recognizing the position of the ball including at least one of an initial position and a passing position of the ball. At this time, the photographed high-speed image is transmitted to the position information calculation module 245 of the high-speed image-based ball motion recognition device 200 through the communication unit.

The first modular high-speed photographing apparatus 100, which is implemented by a four-channel modular high-speed photographing apparatus, is suitable for recognizing the motion of the ball starting from a specific position on the floor, and is suitable for recognizing the ball speed, It can be used in sports such as football.

The high speed image taken by the imaging module is transmitted to the speed information calculation module 241, the spin information calculation module 243 and the position information calculation module 245, The high speed image captured by the photographing module is transmitted to the high speed image based ball recognition device 200 through the communication unit, As shown in FIG.

5 is an exemplary view showing a second modular high-speed photographing apparatus according to an embodiment of the present invention.

5, the second modular high-speed imaging apparatus 100 includes a left high-speed imaging module 111, a right high-speed imaging module 113, and a high-speed imaging module 115 for ball spin recognition do.

The high speed image captured by the left high speed image capturing module 111 and the right high speed image capturing module 113 is transmitted to the speed information calculation module 241 and the position information calculation module 245 ). Accordingly, the high-speed image-based ball motion recognition apparatus 200 can calculate the ball speed and ball position information by analyzing the left high-speed image and the right high-speed image.

The 4-channel modular high-speed photographing apparatus 100 photographs a high-speed image for calculating the position information of the ball using the high-speed image capturing module 115 for recognizing the ball position, while the 3-channel modular high- The high-speed image photographed by the high-speed image capturing module 111 and the high-speed image capturing module 113 can be utilized for calculating the position and velocity of the ball.

Also, the high-speed image photographed by the high-speed image capturing module 115 for ball spin recognition is transmitted to the spin information calculating module 243 of the high-speed image-based ball motion recognizing apparatus 200, .

The second modular high-speed photographing apparatus 100 implemented by the three-channel modular high-speed photographing apparatus can be used in a sports event in which the ball speed and the spin information, such as baseball or tennis, .

The sports items such as baseball and tennis can shoot high-speed images with the four-channel modular high-speed shooting device shown in FIG. 4, but by shooting high-speed images with the three-channel modular high-speed shooting device shown in FIG. 5, The same function can be implemented by using the photographing module.

6 is a diagram illustrating an example of a third modular high-speed imaging apparatus according to an embodiment of the present invention.

As shown in FIG. 6, the third modular high-speed imaging apparatus 100 includes a left high-speed imaging module 111 and a right high-speed imaging module 113.

The high speed images taken by the left high speed image capturing module 111 and the right high speed image capturing module 113 are transmitted to the speed information calculation module 241 and the position information calculation module 245 of the high speed image- And is used for calculating the ball speed information and the ball position information.

The high-speed image photographed by at least one of the left high-speed image capturing module 111 and the right high-speed image capturing module 113 is transmitted to the spin information calculating module 243 and can be used for calculating the spin information of the ball .

Motion information such as a volleyball and a handball, which are spots of sports that do not have many spins, are required to be recognized by the four-channel modular high-speed photographing apparatus shown in Figs. 4 and 5 and the three- And can be calculated using a high-speed image photographed from the modular high-speed photographing apparatus. Also, the ball sports such as volleyball and handball can be recognized by using the two-channel modular high-speed photographing apparatus of FIG. 6.

The second modular high-speed imaging apparatus 100, which is a two-channel modular high-speed photographing apparatus, converts high-speed images photographed by at least one of the left high-speed image photographing module 111 and the right high- And transmits the resultant information to the high-speed image-based ball-motion recognition device 200, so that the high-speed image-based ball-motion recognition device 200 can calculate the blank spin information. As described above, the 2-channel modular high-speed imaging device can be implemented with fewer number of imaging modules than the 4-channel modular high-speed imaging device and the 3-channel modular high-speed imaging device.

The modular high-speed imaging apparatus 100 according to an embodiment of the present invention may be implemented as a 4-channel, 3-channel, and 2-channel module, as shown in FIGS. It is possible to implement the high-speed image-based ball-motion recognition apparatus 200 to recognize the ball motion of various sports events by changing only the configuration of the imaging module of the modular high-speed imaging apparatus 100.

In addition, regardless of the type of the imaging module provided in the modular high-speed imaging apparatus 100, the high-speed image-based ball motion recognition apparatus 200 analyzes the image information received from the modular high-speed imaging apparatus 100, The motion information can be calculated so that no matter what imaging module is additionally connected to the modular high-speed imaging apparatus 100, it can be operated without any setting.

7 is a flowchart illustrating a method of recognizing a blank motion based on a high-speed image according to an embodiment of the present invention.

First, the high-speed image-based ball-motion recognition apparatus 200 receives image information from the modular high-speed imaging apparatus 100 (S710).

The high-speed image-based ball-motion recognition apparatus 200 includes a high-speed image-based ball-motion recognition apparatus 200 for recognizing a high-speed image including at least one of a left high speed image, a right high speed image, Information can be input.

Then, the high-speed image-based ball motion recognition apparatus 200 removes the background of the image information (S720).

The high-speed image-based ball motion recognition apparatus 200 removes the background included in each of the input high-speed images and extracts the foreground of the high-speed image.

Next, the high-speed image-based ball motion recognition apparatus 200 detects a blank region of a high-speed image (S730).

The high-speed image-based ball motion recognition apparatus 200 can analyze a high-speed image and detect a blank region including at least one of a center position of a hole and a radius of a hole. At this time, the blank region can be detected for each high-speed image.

Finally, the high-speed image-based ball motion recognition apparatus 200 calculates the ball motion information (S740).

The high-speed image-based ball motion recognizing apparatus 200 is a device for recognizing a ball including at least one of ball speed information, ball spin information, ball initial position information and ball passing position information, And calculates exercise information.

At this time, the ball velocity information, the spin information, and the position information can be calculated by different modules, and the ball image recognition device 200 based on a high-speed image can recognize at least two of the velocity information, the spin information, Can be calculated.

In step S740, the process of calculating the ball motion information by the high-speed image-based ball motion recognition apparatus 200 will be described in more detail with reference to FIGS. 8 to 11, which will be described later.

Hereinafter, the process of calculating the ball motion information by the high-speed image-based ball motion recognition apparatus according to an embodiment of the present invention will be described in more detail with reference to FIG. 8 through FIG.

8 to 11 may be performed by the high-speed image-based ball motion recognition apparatus 200 after performing step S730 of FIG.

FIG. 8 is a flowchart illustrating a method of calculating the speed information in step S740 of FIG.

After detecting the blank area in step S730 of FIG. 7, the high-speed image-based ball-motion recognition apparatus 200 determines the ball center position of the ball as a spatial position based on the correction information of the modular high- (S810).

Then, the high-speed image-based ball motion recognition apparatus 200 calculates the ball speed information using the spatial position of the ball and the photographing speed information of the modular high-speed photographing apparatus 100 (S820).

The high-speed image-based ball motion recognition apparatus 200 calculates the restored space displacement to the spatial position, and calculates the ball velocity information using the displacement information and the photographing speed information.

FIG. 9 is a flowchart showing a method of calculating blank spin information in step S740 of FIG.

After detecting the blank region in step S730 of FIG. 7, the high-speed image-based blank motion recognition apparatus 200 detects pattern information corresponding to the blank surface (S910).

Then, the high-speed image-based ball motion recognition apparatus 200 rotates the pattern information to match the previously defined blank pattern (S920).

Finally, in step S930, the high-speed image-based blank motion recognition apparatus 200 calculates the spin information of the blank using the rotation information of the pattern information and the photographing speed information of the modular high-speed photographing apparatus 100.

10 is a flowchart showing a method of calculating the starting position of the ball in step S740 of FIG.

The high-speed image-based ball motion recognition apparatus 200 performs the step S730 of FIG. 7, which detects a blank region, and then uses the projection information defining the projection relationship between the image plane and the floor plane, (S1010).

Then, the high-speed image-based ball motion recognition device 200 calculates the position of the ball projected on the bottom surface as a starting position of the ball (S1020).

11 is a flowchart showing a method of calculating the passing position of the ball in step S740 of FIG.

In step S730 of FIG. 7, the high-speed image-based ball-motion recognition apparatus 200 detects the ball area and restores the ball center position to the spatial position based on the correction information of the modular high-speed imaging apparatus (S1110) .

Then, the high-speed image-based ball motion recognition apparatus 200 calculates the position of the restored ball in the ball passing position (S1120).

10 and 11, the high-speed image-based ball-motion recognition apparatus 200 may use the single positional information calculation module to calculate the position information of the balls 200, Can be performed.

12 is a block diagram illustrating a computer system in accordance with an embodiment of the present invention.

Referring to FIG. 12, embodiments of the present invention may be implemented in a computer system 1200, such as a computer readable recording medium. 12, a computer system 1200 includes one or more processors 1210, a memory 1230, a user input device 1240, a user output device 1250, and a storage 1250 that communicate with one another via a bus 1220. [ (1260). In addition, the computer system 1200 may further include a network interface 1270 connected to the network 1280. The processor 1210 may be a central processing unit or a semiconductor device that executes the processing instructions stored in the memory 1230 or the storage 1260. [ Memory 1230 and storage 1260 can be various types of volatile or non-volatile storage media. For example, the memory may include a ROM 1231 or a RAM 1232. [

Thus, embodiments of the invention may be embodied in a computer-implemented method or in a non-volatile computer readable medium having recorded thereon instructions executable by the computer. When computer readable instructions are executed by a processor, the instructions readable by the computer are capable of performing the method according to at least one aspect of the present invention.

As described above, the modular high-speed imaging apparatus, the high-speed image-based motion recognition apparatus and method according to the present invention are not limited to the configuration and method of the embodiments described above, All or some of the embodiments may be selectively combined so that various modifications can be made.

100: Modular high speed photographing apparatus 110: Photographing section
111: Left high speed image shooting module
113: Right high speed image shooting module
115: High-speed image capture module for ball spin recognition
117: High-speed image capture module for ball position recognition
115: photographing module 120:
130:
200: Ball motion recognition device based on high speed image
210: image information input unit 220: image preprocessing unit
230: ball detection unit 240: motion information calculation unit
241: Speed information calculation module 243: Spin information calculation module
245: location information calculation module 1200: computer system
1210: Processor 1220: Bus
1230: Memory 1231: ROM
1232: RAM 1240: user input device
1250: User output device 1260: Storage
1270: Network interface 1280: Network

Claims (20)

A video information input unit for inputting video information corresponding to a ball motion from a modular high-speed photographing apparatus having a photographing speed set for each photographing module so as to correspond to a type of the ball to be photographed,
An image preprocessing unit for removing a background of the input image information,
A ball detection unit for detecting the blank area included in the image information, and
And a motion information calculation unit for calculating ball motion information including at least one of the ball velocity information, the spin information, and the position information based on the detected blank region,
The image information includes:
And a second photographing module having a photographing speed set based on a spin speed corresponding to a type of the blank, based on a ball speed corresponding to the type of the ball, A high-speed image-based ball-motion recognition device comprising a plurality of high-speed images taken by a modular high-speed imaging device. The method according to claim 1,
The image information includes:
And a high-speed image based on a high-speed image, wherein the high-speed image includes at least one of a left high-speed image, a right high-speed image, a high-speed image for co- Device. 3. The method of claim 2,
Wherein the ball detection unit comprises:
Wherein the at least one high-speed image is analyzed to detect the center point position and the ball radius of the ball. The method of claim 3,
The exercise information calculation unit calculates,
Wherein the modular high-speed photographing device restores the center position of the hole to a spatial position based on the correction information of the modular high-speed photographing device, and uses the restored spatial position of the blank and photographing speed information of the modular high- And the velocity information of the ball is calculated. The method of claim 3,
The exercise information calculation unit calculates,
Detecting pattern information corresponding to the surface of the hole, rotating the pattern information, matching the predefined hole pattern, and using rotation information of the pattern information and photographing speed information of the modular high-speed photographing apparatus , And calculates the spin information of the ball. The method of claim 3,
The exercise information calculation unit calculates,
And projecting the ball onto the bottom surface using the projection information in which the projection relationship between the image plane and the bottom plane is defined and calculating the position of the ball projected on the bottom plane as the starting position of the ball High - speed image - based ball motion recognition device. The method of claim 3,
The exercise information calculation unit calculates,
Wherein the center position of the hole is restored to a spatial position based on the correction information of the modular high-speed photographing apparatus, and the position of the restored space in the space is calculated as the position of passing the ball, A ball motion recognition device. A photographing unit having a plurality of photographing modules for photographing a high-speed image corresponding to the motion of the ball,
A control unit for setting the shooting speed of each of the shooting modules so as to correspond to the type of the hole to control the shooting of the shooting module and setting the shooting speed of each of the shooting modules,
A communication unit for transmitting the photographed high-speed images to a high-speed image-based ball motion recognition device
Lt; / RTI >
Wherein,
A left high-speed image capturing module, a right high-speed image capturing module, a ball spin capturing high-speed image capturing module, and a ball position recognizing high-speed image capturing module,
Wherein,
Setting the shooting speed of at least one of the left high-speed image-capturing module and the right high-speed image-capturing module on the basis of a ball speed corresponding to the type of the ball, and based on the spin speed corresponding to the type of the ball And sets the photographing speed of the high-speed image capturing module for ball-spin recognition. delete delete delete delete 9. The method of claim 8,
Wherein,
Wherein at least one of the photographing speed information, the projection information, and the correction information of the photographing module is transmitted to the high-speed image-based blank-motion recognizing device. A ball motion recognition method performed by a ball motion recognition device based on a high-speed image,
Receiving image information corresponding to the motion of the ball from a modular high-speed photographing apparatus having a photographing speed set for each photographing module so as to correspond to the type of the ball to be photographed,
Removing the background of the input image information,
Detecting the blank region included in the image information, and
Calculating ball motion information including at least one of the ball velocity information, the spin information, and the position information based on the detected blank region,
The image information includes:
And a second photographing module having a photographing speed set based on a spin speed corresponding to a type of the blank, based on a ball speed corresponding to the type of the ball, A high speed image based ball motion recognition method comprising a plurality of high speed images taken by a modular high speed photographing apparatus. 15. The method of claim 14,
The image information includes:
And a high-speed image based on a high-speed image, wherein the high-speed image includes at least one of a left high-speed image, a right high-speed image, a high-speed image for co- Way. 16. The method of claim 15,
Wherein the step of detecting the blank region comprises:
And analyzing at least one of the high-speed images to detect a center position of the ball and a radius of the ball. 17. The method of claim 16,
Wherein the step of calculating the ball motion information includes:
Restoring the center point position of the ball to a spatial position based on the correction information of the modular high-speed photographing apparatus, and
Calculating the speed information of the ball using the restored spatial position of the ball and the photographing speed information of the modular high-speed photographing apparatus
Based motion recognition method. 17. The method of claim 16,
Wherein the step of calculating the ball motion information includes:
Detecting pattern information corresponding to the surface of the hole,
Rotating the pattern information to match the predefined blank pattern, and
Calculating the spin information of the blank using the rotation information of the pattern information and the photographing speed information of the modular high-speed photographing apparatus
Based motion recognition method. 17. The method of claim 16,
Wherein the step of calculating the ball motion information includes:
Projecting the ball onto the floor surface using projection information defining a projection relationship between the image plane and the floor plane, and
Calculating a position of the ball projected on the bottom surface to a starting position of the ball
Based motion recognition method. 17. The method of claim 16,
Wherein the step of calculating the ball motion information includes:
Restoring the center point position of the ball to a spatial position based on the correction information of the modular high-speed photographing apparatus, and
Calculating the restored spatial position of the ball to the passing position of the ball
Based motion recognition method.

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