KR102050898B1 - Method and apparatus for tracking multiple curling stones using two cameras - Google Patents

Method and apparatus for tracking multiple curling stones using two cameras Download PDF

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KR102050898B1
KR102050898B1 KR1020180036150A KR20180036150A KR102050898B1 KR 102050898 B1 KR102050898 B1 KR 102050898B1 KR 1020180036150 A KR1020180036150 A KR 1020180036150A KR 20180036150 A KR20180036150 A KR 20180036150A KR 102050898 B1 KR102050898 B1 KR 102050898B1
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stone
tracking
stones
image
coordinates
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KR20190033415A (en
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설상훈
김가영
윤성욱
홍명표
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고려대학교 산학협력단
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    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/20—Analysis of motion
    • G06T7/292—Multi-camera tracking
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
    • A63B24/00—Electric or electronic controls for exercising apparatus of preceding groups; Controlling or monitoring of exercises, sportive games, training or athletic performances
    • A63B24/0021—Tracking a path or terminating locations
    • A63B2024/0028—Tracking the path of an object, e.g. a ball inside a soccer pitch

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Abstract

The present invention relates to a plurality of curling stone tracking devices and methods using two cameras, wherein the plurality of curling stone tracking devices capture a region surrounded by two sidelines, a first backline, and a first hogline of the curling sheet. A first camera for acquiring a first image, which is an image, a second camera for acquiring a second image, which is an image of a region surrounded by the two sidelines, the first hogline, and a second hogline, and the first image. And a coordinate calculator configured to calculate coordinates of stones included in the tracking stone set, which is a set of moving stones using the second image, and activate one of the first camera and the second camera according to the coordinates of the pitching stone. Stones using the motion control unit and coordinates of the stones included in the tracking stone set and initial coordinates of the stones not included in the tracking stone set. It includes a collision detection unit for detecting a collision between. According to the present invention, the accuracy of detecting the curling stone coordinates can be improved by tracking the curling stones by selectively using the near-field captured images and the remote-captured captured images, and the amount of calculation can be reduced by tracking only the coordinates of the colliding stones that have collided. There is.

Description

Multiple Curling Stone Tracking Apparatus and Method Using Two Cameras {METHOD AND APPARATUS FOR TRACKING MULTIPLE CURLING STONES USING TWO CAMERAS}

The present invention relates to a plurality of curling stone tracking devices and methods for tracking the position of a curling stone using a camera.

As various apparatuses and robots for performing and analyzing curling races have been invented, various methods for obtaining accurate positions of curling stones have been applied for performing and analyzing curling races.

However, this is implemented in the form of attaching additional devices to the curling stadium or curling stone, there is a problem that it is difficult to apply to the actual game situation and facilities. Top-view cameras with cameras mounted on ceilings, which are often used in actual curling stadiums, have a narrow viewing area and are not suitable for observing a single curling sheet as a whole.

In addition, a method and apparatus for tracking a single object is not suitable for the actual game situation where a large number of curling stones must be detected, and when two or more objects collide, it is impossible to determine the location and whether or not the collided objects collide with each other.

US patent application US97023248 (registered July 11, 2017), titled: Curling detection device, image forming apparatus, curling detection method, recording medium storing a curing detection program, and recording medium storing an image adjustment program

The present invention selectively controls a state of a near-field camera and a far-field camera, and detects a curling stone moving by a collision in an image photographed from an active camera to track a plurality of curling stones. It is an object of the present invention to provide a curling stone tracking device and method.

In order to achieve the above object, a plurality of curling stone tracking devices according to an exemplary embodiment of the present invention include a first image which is an image of an area surrounded by two sidelines, a first backline, and a first hogline of a curling sheet. A first camera for acquiring a second image; and a second camera for acquiring a second image which is an image of an area surrounded by the two sidelines, the first hogline and a second hogline, the first image, and the second image. A coordinate calculator configured to calculate coordinates of the stones included in the tracking stone set, which is a set of moving stones, an operation controller for activating one of the first camera and the second camera according to the coordinates of the pitching stone; Collision sense for detecting a collision between stones using the coordinates of the stones included in the tracking stone set and the initial coordinates of the stones not included in the tracking stone set Includes chapters.

The coordinate calculator may calculate coordinates of each stone by recognizing the center of each stone image photographed by the first camera or the second camera, for all stones included in the tracking stone set.

The operation controller maintains the first camera in the standby state, maintains only the second camera in the activated state, and when the pitching stone passes the first hogline, moves the first camera from the standby state to the activated state. And switch the second camera from the active state to the standby state.

The collision detection unit detects a collision and adds the specific stone to the trace stone set when a distance between a particular stone among the stones not included in the trace stone set and a stone included in the trace stone set is less than the diameter of the stone. can do.

The collision detector may update the tracking stone set by detecting a collision by the following equation, using the coordinates of the stones included in the tracking stone set and the initial coordinates of the stones not included in the tracking stone set.

Figure 112018031044566-pat00001

Where s (t) is the tracking stone set, s (t + 1) is the updated tracking stone set, x is the stone not included in the tracking stone set, s is the stone included in the tracking stone set, and px is the stone x , Where ps is the coordinate of the stone s, d is the diameter of the stone)

A plurality of stone tracking method according to another embodiment of the present invention comprises the steps of determining whether the pitch of the pitched stone has passed the first hog grain, when the coordinate of the pitched stone has passed the first hog grain, the first Switching a camera to an active state, detecting a collision between stones using coordinates of stones included in the tracking stone set, which is a set of moving stones, and initial coordinates of stones not included in the tracking stone set, the collision In response to the detection, updating the tracking stone set, and calculating coordinates of stones included in the tracking stone set.

The detecting of the collision between the stones may be determined as a collision when the distance between a particular stone among the other stones and the pitching stone is less than the diameter of the stone.

In the updating of the tracking stone set, the specific stone may be added to the tracking stone set.

The updating of the tracking stone set may be determined by the following equation.

Figure 112018031044566-pat00002

Where s (t) is the tracking stone set, s (t + 1) is the updated tracking stone set, x is the stone not included in the tracking stone set, s is the stone included in the tracking stone set, and px is the stone x , Where ps is the coordinate of the stone s, d is the diameter of the stone)

According to the present invention, the accuracy of detecting the curling stone coordinates can be improved by tracking the curling stones by selectively using the near-field captured images and the remote-captured captured images, and the amount of calculation can be reduced by tracking only the coordinates of the colliding stones that have collided. There is.

In addition, two cameras capable of capturing the curling seat may be installed outside the curling seat, and the coordinate tracking of the curling stones may be performed without installing any device other than the camera, thereby increasing the stability of the game.

1 is a schematic configuration diagram of a plurality of curling stone tracking device according to an embodiment of the present invention.
2 is an external view of a plurality of curling stone tracking device according to an embodiment of the present invention.
FIG. 3 is a diagram illustrating an installation position of a plurality of curling stone tracking devices and a region of an image photographed by two cameras, according to an exemplary embodiment.
4 is a view for explaining a method of tracking the coordinates of the stone from the far image and the near image of the plurality of curling stone tracking device according to an embodiment of the present invention.
5 to 6 are diagrams for describing a method of tracking coordinates of a plurality of curling stones from a near field image of a plurality of curling stone tracking devices according to an exemplary embodiment of the present invention.
7 is a flow chart of a plurality of curling stone tracking method according to another embodiment of the present invention.

As the present invention allows for various changes and numerous embodiments, particular embodiments will be described in detail with reference to the accompanying drawings. However, this is not intended to limit the present invention to specific embodiments, it should be understood to include all modifications, equivalents, and substitutes included in the spirit and scope of the present invention. In describing the drawings, similar reference numerals are used for similar elements.

Terms such as first, second, A, and B may be used to describe various components, but the components should not be limited by the terms. The terms are used only for the purpose of distinguishing one component from another. For example, without departing from the scope of the present invention, the first component may be referred to as the second component, and similarly, the second component may also be referred to as the first component. The term and / or includes any of a plurality of related description items or a combination of a plurality of related description items.

When a component is said to be "connected" or "connected" to another component, it may be directly connected to or connected to the other component, but it should be understood that there may be other components in between. something to do. On the other hand, when a component is said to be "directly connected" or "directly connected" to another component, it should be understood that there is no other component in between.

The terminology used herein is for the purpose of describing particular example embodiments only and is not intended to be limiting of the present invention. Singular expressions include plural expressions unless the context clearly indicates otherwise. In this application, the terms "comprise" or "have" are intended to indicate that there is a feature, number, step, operation, component, part, or combination thereof described in the specification, and one or more other features. It is to be understood that the present invention does not exclude the possibility of the presence or the addition of numbers, steps, operations, components, components, or a combination 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. Terms such as those defined in the commonly used dictionaries should be construed as having meanings consistent with the meanings in the context of the related art and shall not be construed in ideal or excessively formal meanings unless expressly defined in this application. Do not.

Throughout the specification and claims, when a part includes a certain component, it means that it may further include other components, except to exclude other components unless specifically stated otherwise.

Hereinafter, exemplary embodiments of the present invention will be described in detail with reference to the accompanying drawings.

1 is a schematic configuration diagram of a plurality of curling stone tracking device according to an embodiment of the present invention.

Referring to FIG. 1, the plurality of curling stone tracking devices 100 according to an exemplary embodiment of the present invention may include a first camera 110, a second camera 120, an operation controller 130, and a coordinate calculator 140. , And the collision detection unit 150 is configured.

The first camera 110 may acquire a first image, which is an image of a region surrounded by two sidelines, a first backline, and a first hogline of the curling sheet. This area can be defined as a near area. The first camera 110 may be kept in the standby state until receiving the specific control signal, and when receiving the specific control signal, the first camera 110 may switch the operation mode from the standby state to the active state. Here, the standby state refers to a state in which the image is not taken in a state of being driven by a low power but can capture an image immediately upon receiving a specific control signal, and the activated state means a state in which the image is taken.

The second camera 120 may acquire a second image, which is an image of an area surrounded by two sidelines, a first hog grain, and a second hog grain of the curling sheet. You can define this area as a remote area. In addition, the second camera 120 may be initialized to an active state of capturing an image until a specific control signal is received, and when the specific control signal is received, the second camera 120 may switch the operation mode from the active state to the standby state.

The first camera 110 may be made of a wide angle lens, and the second camera 120 may be made of a telephoto lens. In addition, the two cameras may be disposed at a distance within a range in which both horizontal boundary lines of the curling sheet can be photographed.

2 is an external view of a plurality of curling stone tracking device according to an embodiment of the present invention, Figure 3 is an installation position of the plurality of curling stone tracking device according to an embodiment of the present invention and the image taken by two cameras The diagram is divided into areas.

Referring to FIG. 2, the plurality of curling stone tracking devices 100 according to an embodiment of the present invention may form two cameras 110 and 120 adjacent to one device so as to capture a curling sheet having the same width. Can be.

That is, the first camera 110 includes a horizontal boundary line of the curling sheet, and includes a first camera 110 for photographing a near-area of the curling sheet and a horizontal boundary line of the curling sheet, and an image for photographing a far-field region of the curling sheet. Two cameras 120 may be formed adjacent to each other. In this case, the photographing area may be adjusted by rotating the first camera 110 and the second camera 120 in the vertical direction.

Referring to FIG. 3, a plurality of curling stone tracking devices 100 according to an embodiment of the present invention are installed behind a first backline, and a first camera of the plurality of curling stone estimation devices 100 is a near-field camera. The observation area is photographed, and the second camera may photograph the remote camera observation area. The two cameras may adjust the photographing area to include all of the first hoglines close to the side where the plurality of curling stone tracking devices are installed.

In this case, the first backline, the first hogline, the second hogline, and the second backline of the curling sheet are names of lines of the curling sheet and may be determined according to the installation positions of the plurality of curling stone tracking devices.

The plurality of curling stone tracking devices 100 may be installed at a position about 2 m high enough to observe the entire curling sheet using a tool such as a tripod. Although only the lens parts of the two cameras are shown in the figure as if they are physically separated, a body part capable of moving the lens in the vertical direction or the left and right directions may be formed separately.

When the coordinates of the pitching stone cross the first hogline, the operation controller 130 switches the first camera 110 from the standby state to the active state, and switches the second camera 120 from the active state to the standby state. Can be. The operation controller 130 may control the first camera 110 and the second camera 120 to be selectively activated.

The coordinate calculator 140 calculates initial coordinates of all the stones, and calculates coordinates of stones included in the tracking stone set, which is a set of moving stones using the first image (the near image) and the second image (the far image). Can be. The coordinate calculator 140 may calculate coordinates of each stone by recognizing the center of each stone image photographed by the first camera 110 or the second camera 120 with respect to all stones included in the tracking stone set. have. The coordinate calculation unit 140 may calculate the coordinates of the stones included in the tracking stone set when the tracking stone set is updated.

The collision detector 150 may detect a collision between the stones by using the coordinates of the stones included in the tracking stone set and the initial coordinates of the stones not included in the tracking stone set. The collision detector 150 may update the tracking stone set, which is a set of stones moving according to the collision detection. If the distance between the stones included in the tracking stone set and the stones included in the tracking stone set is less than the diameter of the stones, the collision detection unit 150 detects a collision and adds the specific stones to the tracking stone set. Can be.

4 is a view for explaining a method of tracking the coordinates of the stone from the far image and the near image of the plurality of curling stone tracking device according to an embodiment of the present invention.

Referring to FIG. 4, coordinates of a stone may be tracked by analyzing a far-field image and a near-field image of a plurality of curling stone tracking devices according to an exemplary embodiment of the present invention. The stone coordinates may be extracted from the image of the stone, and the center point C of the stone may be determined as the coordinates.

First, the coordinate calculation unit 140 creates a binary image to detect an area corresponding to the curling stone using the color of the curling stone. In the obtained binary image, a culling stone is detected by predicting what size an area corresponding to the actual culling stone appears in the image using a relationship between the image coordinates and the world coordinates acquired in the process of obtaining the world coordinates. The coordinates of the curling stone use the center of the stone when the curling stone is viewed from above with respect to the world coordinates. The process of calculating the coordinates of the curling stone is performed every frame.

When the coordinates of the pitching stone pass the first hogline, the coordinate calculation unit 140 may extract the coordinates of the plurality of stationary curling stones from the first image of the short distance obtained through the first camera 110. When the coordinates of the pitching stone pass the first hogline, the coordinate calculating unit 140 may end the second image analysis and track the coordinates of the moving pitching stone by analyzing the first image. In detail, the collision detector 150 may determine the collision using a distance between the tracked pitched stone coordinates and the initial coordinates of the plurality of stationary curling stones. That is, the collision detection unit 150 may detect that a collision has occurred when the distance between the coordinate of the specific stone moving and the initial coordinate of the stationary stone is less than the diameter of the stone. When the collision is detected, the collision detection unit 150 may track the coordinates of the first curling stone collided with the pitching stone from the first image. In this way, only a group of successively colliding curling stones can track the movement coordinates.

In addition, the collision detector 150 may calculate the coordinates of the curling stone (the first curling stone described above) collided with the moving curling stone (for example, the pitching stone) every frame. The collision between the stones can be calculated by [Equation 1].

Figure 112018031044566-pat00003

Where s (t) is the tracking stone set, s (t + 1) is the updated tracking stone set, x is the stone not included in the tracking stone set, s is the stone included in the tracking stone set, and px is the stone The coordinate, ps, is the coordinate of the stone s, d is the diameter of the stone.

As described above with reference to FIG. 4, the coordinate calculator 140 may recognize the coordinates of the stone as image coordinates by recognizing the center point of the stone image, and convert the image coordinates into world coordinates. The coordinate calculation unit 140 may acquire image coordinates through a process of two cameras, precalibration, three-dimensional pose estimation, and convert the image coordinates into world coordinates using the above parameters.

Precalibration is the process of finding the internal and external parameters of two cameras, and three-dimensional pose estimation is the process of obtaining the relationship between the external parameters of the two cameras obtained in precalibration. The method of converting to world coordinates may be performed by extracting feature points of a region observed using a first camera and matching world coordinates of a curling sheet with coordinates of an image acquired by the first camera. At this time, the coordinates of the images acquired from the near and far cameras are matched with the world coordinates of the curling sheet using the relational expressions of the two cameras obtained in the three-dimensional pose estimation process. In this process, the relationship between the image coordinates acquired through the camera and the world coordinates is obtained. In world coordinates, the short width of the curling sheet can be expressed as the x axis, the long width as the y axis, and the direction perpendicular to the curling sheet can be expressed as the z axis.

5 to 6 are diagrams for describing a method of tracking coordinates of a plurality of curling stones from a near field image of a plurality of curling stone tracking devices according to an exemplary embodiment of the present invention.

5 to 6, a plurality of curling stone tracking apparatuses according to an embodiment of the present invention may perform only image analysis on a curling stone moving by a collision from a near field image.

Specifically, a curling race is a sport in which two teams of four players each slide a curling stone (S1 to S4) on the ice to obtain a goal, and the house is composed of concentric circles of different sizes and the center of the concentric circles. The more points you place the curling stone, the higher the score.

In the curling game, one player pitches the curling stone and the other player induces the heading direction of the pitching stone. Therefore, only the pitching stone is moving in the second image of the distant area, so only the coordinate change of the pitching stone needs to be tracked. If the pitching stone crosses the first hogline, that is, the hogline close to the scoring target, the pitching stone may be tracked in the first image. At this time, the pitching stone may be traced by switching the image from the second image to the first image by using the pitching stone coordinates of the common region of the second image and the first image.

The collision between the moving culling stone and the stationary culling stone is calculated by Equation 1 as described above, and since only the coordinates of the culling stones of the colliding group need to be tracked, the amount of computational analysis can be reduced.

Specifically, when the pitching stone S1 moves and is close to the initial coordinates of the stone S2 below the diameter, collision occurs and the stones S1 and S2 are included in the tracking stone set. The plurality of curling stone collision detection devices track the coordinates of the stones S1 and S2 included in the tracking stone set. If stone S2 included in the tracking stone set is moved and the initial coordinate and distance of the stone S4 are less than the diameter, the stone S2 and the stone S4 are detected as collided. Can be. As the collision occurs, the tracking stone set may be updated, and the coordinates of the stones included in the tracking stone set may be calculated.

7 is a flow chart of a plurality of curling stone tracking method according to another embodiment of the present invention.

Referring to FIG. 7, the plurality of curling stone tracking methods according to another embodiment of the present invention calculate initial coordinates of the stones (S710), determine whether the coordinates of the pitched stone have passed the first hogline (S720), According to the determination result, the first camera may be activated (S730) or the second camera may be activated (S770).

Specifically, when the pitching stone coordinates have passed the first hogline (Yes), the first camera photographing the first image, which is the curling sheet image of the near area, may be switched to an active state (S730). In addition, a second camera for capturing a second image, which is a curling sheet image of a far region, may be switched to a standby state.

Next, a collision may be detected using a difference between the pitched stone coordinates and the initial coordinates of the non-moving stones from the first image photographed by the activated first camera (S740).

If a collision is detected, the tracking stone set may be updated (S750), and coordinates of the moving stones may be calculated (S760). In this case, the process of updating the tracking stone set may use the above-described equation.

On the other hand, if the pitch of the pitching stone does not pass the first hogline (No), the operation state of the two cameras is kept in the initial state (ie, the second camera is activated) and the second image continues. It may be analyzed (S770).

According to the present invention, a device having two cameras for remote and short distances is used to track the location of a pitching stone by analyzing a remote image during initial pitching, and when the pitching stone approaches a predetermined line, an image to be analyzed. It is possible to increase the accuracy of the coordinate analysis of the curling stone by changing the analysis from a far image to a near image. In addition, by tracking only the curling stones having a collision from a near field image, the amount of image processing for tracking a plurality of curling stones can be reduced.

The above description is merely illustrative of the technical idea of the present invention, and those skilled in the art to which the present invention pertains may make various modifications and changes without departing from the essential characteristics of the present invention. Therefore, the embodiments disclosed in the present invention are not intended to limit the technical idea of the present invention but to describe the present invention, and the scope of the technical idea of the present invention is not limited by these embodiments. The protection scope of the present invention should be interpreted by the following claims, and all technical ideas within the scope equivalent thereto should be construed as being included in the scope of the present invention.

100: a plurality of curling stone tracking device 110: first camera
120: second camera 130: operation control unit
140: coordinate calculation unit 150: collision detection unit

Claims (9)

A first camera acquiring a first image, which is an image of an area surrounded by two sidelines, a first backline, and a first hogline of the curling sheet;
A second camera acquiring a second image, which is an image of an area surrounded by the two sidelines, the first hogline and the second hogline;
A coordinate calculation unit configured to calculate coordinates of stones included in a tracking stone set, which is a set of moving stones using the first image and the second image;
An operation controller for activating one of the first camera and the second camera according to the coordinates of the pitching stone; And
And a collision detector configured to detect a collision between stones using coordinates of stones included in the tracking stone set and initial coordinates of stones not included in the tracking stone set.
The collision detection unit is a plurality of curling stone tracking device for switching the first camera from the standby state to the active state when the coordinates of the pitching stone has passed the first hog grain.
The method of claim 1,
The coordinate calculator, for all stones included in the tracking stone set, a plurality of curling to recognize the center of each stone image taken by the first camera or the second camera to calculate the coordinates of each stone Stone tracking device.
The method of claim 1,
And the operation control unit switches the second camera from the activated state to the standby state when the pitching stone passes the first hogline.
The method of claim 1,
The collision detection unit detects a collision when the distance between a particular stone among the stones not included in the tracking stone set and a stone included in the tracking stone set is less than the diameter of the stone, and detects the specific stone to the tracking stone set. A plurality of curling stone tracking device to add.
The method of claim 2,
The collision detection unit, by using the coordinates of the stones included in the tracking stone set and the initial coordinates of the stones not included in the tracking stone set, detecting the collision by the following equation to update the plurality of tracking stone set, Curling Stone Tracking Device.
Figure 112019076093166-pat00004

(Where s (t) is the tracking stone set, s (t + 1) is the updated tracking stone set, x is the stone not included in the tracking stone set, s is the stone included in the tracking stone set, and px is the stone x , Where ps is the coordinate of the stone s, d is the diameter of the stone)
A first camera for acquiring a first image, which is an image of an area surrounded by two sidelines, a first backline, and a first hogline of the curling sheet, and the two sidelines, the first hogline, and a second camera. A plurality of curling stone tracking method for selectively activating a second camera for obtaining a second image, which is an image of an area surrounded by a hogline,
Determining whether the pitch of the pitching stone has passed the first hograin;
Switching the first camera to an active state when the pitch of the pitching stone has passed the first hogline;
Detecting collisions between the stones using coordinates of the stones included in the tracking stone set, which is a set of moving stones, and initial coordinates of the stones not included in the tracking stone set;
Updating the tracking stone set in accordance with the collision detection; And
Calculating coordinates of stones included in the tracking stone set;
A plurality of stone tracking method comprising a.
The method of claim 6,
Detecting a collision between the stones,
And determining the collision if the distance between a particular stone and the pitching stone among the stones not included in the tracking stone set is less than the diameter of the stone.
The method of claim 7, wherein
Updating the tracking stone set,
And adding the particular stone to the trace stone set.
The method of claim 6,
The updating of the tracking stone set is determined by the following equation.
Figure 112019076093166-pat00005

Where s (t) is the tracking stone set, s (t + 1) is the updated tracking stone set, x is the stone not included in the tracking stone set, s is the stone included in the tracking stone set, and px is the stone x , Where ps is the coordinate of the stone s, d is the diameter of the stone)
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