KR102621864B1 - Method for Tracing Golf Ball and System for the Same - Google Patents

Abstract

The present invention includes a camera capture image step of capturing a tee shot image for an area of interest set at the top of a tee box, including a golf ball being tee shot with a wide-angle camera and a telephoto camera, and at least two video images at image time intervals from the tee shot image. A video image selection step, an identification image generation step of generating an identification image reflecting the color value difference between at least two selected video images, and a golf ball detection step of detecting an area displayed in white in the identification image as a golf ball. A golf ball color value determination step of determining the color value of the video image corresponding to the position of the golf ball detected in the identification image as the golf ball color value, and a wide-angle camera and a telephoto camera using the golf ball color value. A golf ball tracking step that converts the video image into a binary image to recognize the golf ball and tracks the golf ball while controlling the wide-angle camera and telephoto camera, and a landing step that includes the landed golf ball by checking whether the golf ball has landed on the ground. Disclosed is a golf ball tracking method and system for the same, including a golf ball landing confirmation step that generates an image.

Description

Golf ball tracking method and system for the same {Method for Tracing Golf Ball and System for the Same}

The present invention relates to a golf ball tracking method and system for tracking a golf ball tee-shot during a round of golf and providing a location where the golf ball lands on the ground.

A golf round has some differences depending on the distance for each hole, but it starts with the tee shot, goes through the second shot, and ends with the putting process. The tee shot process is a process in which a golfer hits a golf ball from a tee box at a designated location and the golf ball lands on the fairway or rough of the ground.

In order for a golf round to proceed smoothly, it is necessary to properly understand the trajectory of the golf ball and the landing position on the ground during the tee shot. Since the golf ball flies in various directions depending on the golfer's skill during the tee shot, it may not be easy to determine the landing location of the golf ball. Since golfers focus on hitting the golf ball during the tee shot, they mainly rely on their caddy to determine the landing location of the golf ball. Therefore, the caddy quickly determines the landing location of the golf ball and helps the golf round proceed smoothly. Recently, the supply of caddies is not smooth, so golf courses have difficulty securing an adequate number of caddies. Additionally, since the supply of caddies is not smooth, the financial burden on golfers is increasing as caddy fees rise.

Meanwhile, as a service to golfers, golf courses provide photos of the moment of a tee shot or a photo of a hole-in-one golf ball. Golfers want to keep a video of the golf ball's flight when they hit a hole-in-one or a successful tee shot, but it is not easy to secure flight video.

The purpose of the present invention is to provide a golf ball tracking method and system for tracking a golf ball tee-shot during a round of golf and providing a location where the golf ball lands on the ground.

Additionally, the purpose of the present invention is to provide a golf ball tracking method and system for generating and providing a flight image of a golf ball from its tee shot until it lands on the ground during a round of golf.

The golf ball tracking method according to an embodiment of the present invention to solve the above problems is a camera that captures a tee shot image for an area of interest set at the top of a tee box, including a golf ball tee shot using a wide-angle camera and a telephoto camera. A captured image step, a video image selection step of selecting at least two video images at image time intervals from the tee shot image, and an identification image generating an identification image reflecting a color value difference between the at least two selected video images. A generation step, a golf ball detection step of detecting an area displayed in white in the identification image as the golf ball, and a color value of the video image corresponding to the position of the golf ball detected in the identification image as a golf ball color value. A step of determining the golf ball color value, converting the video image captured by the wide-angle camera and the telephoto camera into a binary image using the golf ball color value, recognizing the golf ball, and controlling the wide-angle camera and the telephoto camera to determine the golf ball color value. It is characterized by comprising a golf ball tracking step of tracking the ball and a golf ball landing confirmation step of checking whether the golf ball has landed on the ground and generating a landing image including the landed golf ball.

In addition, the identification image generation step includes a gray image generation process of converting at least two video images into gray images, and comparing color values for each pixel at a corresponding position of the two gray images to determine the color value difference of each pixel. The color value difference calculation process for calculating and for each pixel, a white color value is assigned to the pixel whose color value difference is greater than the set identification standard value and displayed as a white area, and a black color value is assigned to the pixel that is smaller than the identification standard value. It may include an identification image creation process of generating the identification image by allocating and displaying it as a black area.

In addition, the golf ball tracking method may further include a golf ball lock-on step of displaying a white area other than the white area where the golf ball is located as a black area when there are a plurality of white areas in the identification image. there is.

Additionally, the golf ball tracking method may further include a clutter rejection step of removing clutter caused by a background from the identification image.

In addition, the golf ball tracking step includes an image binarization process of converting the video image into a binarized image including a golf ball area having the golf ball color value and a background area not having the golf ball color value, and A golf ball recognition process of recognizing a golf ball and determining the position of the golf ball, and a golf ball position change process of moving the directions of the wide-angle camera and the telephoto camera so that the recognized position of the golf ball is centered in the binarized image. It can be included.

In addition, the golf ball tracking method includes a golf ball flight image generation step of capturing a flight image of the golf ball with the wide-angle camera and a telephoto camera from the camera image capturing step to the golf ball landing confirmation step to generate a golf ball flight image; It may further include a golf ball flight image transmission step of transmitting the generated golf ball flight image to a receiving terminal.

Additionally, the wide-angle camera and the telephoto camera can be linked together to track the golf ball.

In addition, the golf ball tracking system according to an embodiment of the present invention includes a wide-angle camera and a telephoto camera, a camera module that captures a flight image of the golf ball, a camera control module that controls the camera module, and a camera control module that controls the camera module. It includes a central server that is linked to the module through the Internet or a separate communication network, and a receiving terminal that is linked to the central server or the camera control module and receives a golf ball landing image or a golf ball flight image of the golf ball, as described above. It is characterized by performing a golf ball tracking method.

The golf ball tracking method and system of the present invention can use a wide-angle camera and a telephoto camera together to track a tee-shot golf ball and provide a location where the golf ball lands on the ground.

In addition, the golf ball tracking method and system of the present invention recognizes golf balls by processing video images captured by a wide-angle camera and a telephoto camera, so it can recognize and track golf balls more accurately and efficiently.

Additionally, the golf ball tracking method and system of the present invention can track the golf ball without missing it by linking a wide-angle camera and a telephoto camera to track the golf ball.

Additionally, the golf ball tracking method and system of the present invention can provide the golfer with a flight image of the golf ball from the tee shot until it lands on the ground.

Additionally, the golf ball tracking method and system of the present invention can capture and provide an entire flight image of the golf ball from the tee shot into the hole cup in a par 3 hole.

1 is a schematic configuration diagram of a golf ball tracking system according to an embodiment of the present invention.
FIG. 2 is a schematic diagram of an area of interest of a tee box captured by a camera module of the golf ball tracking system of FIG. 1.
Figures 3a and 3b are plan views showing where the camera module of Figure 1 is installed in the hole course.
Figure 4 is a flowchart of a golf ball tracking method according to an embodiment of the present invention.
5A and 5B are exemplary video images taken at predetermined time intervals after a tee shot.
FIGS. 6A and 6B are exemplary gray images generated by converting the video images of FIGS. 5A and 5B into gray scale.
7 is an example identification image generated from the gray images of FIGS. 6A and 6B.
Figures 8a and 8b are binarized images generated from video images taken at predetermined intervals.

Hereinafter, a golf ball tracking method and system according to an embodiment of the present invention will be described in more detail with reference to the embodiments and the attached drawings.

First, a golf ball tracking system for a golf ball tracking method according to an embodiment of the present invention will be described.

1 is a schematic configuration diagram of a golf ball tracking system according to an embodiment of the present invention. FIG. 2 is a schematic diagram of an area of interest of a tee box where a camera module of the golf ball tracking system of FIG. 1 is installed. Figures 3a and 3b are plan views showing where the camera module of Figure 1 is installed in the hole course.

Referring to FIGS. 1 to 3B, the golf ball tracking system according to an embodiment of the present invention may include a camera module 100, a camera control module 200, a central server 300, and a receiving terminal 400. You can. Additionally, the golf ball tracking system may further include a local server 500.

The golf ball tracking system is a camera module 100 installed in a hole course of a golf course, tracking the golf ball from the tee shot until it lands on the ground, and receiving information about the landing position where the golf ball lands on the ground. It can be provided to (400). To this end, the camera module 100 can generate video images by following the golf ball while it is flying. The camera control module 200 may detect a golf ball in a video image and control the camera module 100 to continuously track and photograph the golf ball. The central server 300 is connected to the camera control module 200 and sends the video image of the landing position of the golf ball or the captured image of the flight of the golf ball received from the camera module 100 to the receiving terminal 400. Can be transmitted.

Meanwhile, the golf ball tracking system described below is an embodiment for providing the golf ball tracking method of the present invention, and can be formed in various configurations to provide the golf ball tracking method.

The camera module 100 may include a wide-angle camera 110, a wide-angle tilting motor 120, a wide-angle panning motor 130, a telephoto camera 140, a telephoto tilting motor 150, and a telephoto panning motor 160. there is.

The camera module 100 includes a wide-angle camera 110 and a telephoto camera 140 and can track a golf ball. At this time, the camera module allows the wide-angle camera 110 and the telephoto camera 140 to track the golf ball, respectively. Additionally, the camera module 100 can track the golf ball by linking the wide-angle camera 110 and the telephoto camera 140 together. In this case, the camera module 100 can track the golf ball more efficiently without missing it.

The camera module 100 is equipped with a wide-angle camera 110 and a telephoto camera 140, and can track and photograph a golf ball from a tee shot until it lands on the ground. At this time, the wide-angle camera 110 can capture a flight image of the golf ball by tracking the golf ball while tilting and panning by the wide-angle tilting motor 120 and the wide-angle panning motor 130. Additionally, the telephoto camera 140 can capture a flight image of a golf ball by tilting and panning by the telephoto tilting motor 150 and the telephoto panning motor 160.

In the camera module 100, the wide-angle camera 110 and the telephoto camera 140 may be driven together or independently of each other. The camera module 100 may be operated in conjunction with a wide-angle camera 110 and a telephoto camera 140. For example, the wide-angle camera 110 and the telephoto camera 140 may be driven together by driving the wide-angle tilting motor 120 and the wide-angle panning motor 130. Additionally, the telephoto camera 140 may be driven separately from the wide-angle camera 110 by the telephoto tilting motor 150 and the telephoto panning motor 160. Since the camera module 100 uses a wide-angle camera 110 and a telephoto camera 140, it can track the golf ball more efficiently and accurately without missing the golf ball. Since the wide-angle camera 110 has a relatively large angle of view, it can track the golf ball without missing it even when the tee shot golf ball flies at an abnormally high speed or flies in an unexpected direction. Since the telephoto camera 140 is capable of enlarged photography, it can accurately detect or recognize the golf ball even when the color of the golf ball and the background are similar.

The camera module 100 may be installed at a predetermined location to capture a region of interest (a) of a tee box in any hole course of a golf course. The camera module 100 can adjust the shooting direction and shooting magnification so that it can shoot the area of interest of the tee box. The camera module 100 may photograph the area of interest from the front direction of the area of interest depending on the shape of the hole course. The camera module 100 may photograph the area of interest in a direction forming a predetermined acute angle with the front direction of the area of interest. The camera module 100 can photograph an area of interest using a wide-angle camera 110 and a telephoto camera 140.

Here, the area of interest (a), as shown in FIG. 2, is an area perpendicular to the direction in which the golf ball (b), which is tee shot from a tee box, flies, and is a virtual area with a predetermined width and height. For example, the area of interest is the entire width of the tee box, or the bottom line spaced from the ground between two tee markers (or tee blocks) (c) installed on the tee box, and the top line located at a predetermined height from the bottom line. It can be defined as a square shape defined by . The bottom line may be higher than the height of the golf tee or golfer. Additionally, the top line may be higher than the maximum height at which the golf ball flies. The area of interest may be set at a position advanced a predetermined distance from the tee box. The area of interest can be determined by considering the altitude of the tee box and the arrangement relationship with the fairway.

In addition, the camera module 100 is positioned at a distance farther from the tee box or between the tee box and the landing area on the ground where a golf ball tee-shot on the hole course lands (i.e., an area corresponding to the average or maximum distance of golfers when teeing off). It can be installed in the installation area between landing areas. Accordingly, the camera module 100 can capture a flight image of the golf ball while tracking the golf ball being tee shot.

As shown in FIGS. 3A and 3B, one or two camera modules 100 may be installed depending on the shape of the hole course. When two camera modules 100 are installed, two camera modules 100 may be located on both sides of the fairway in the installation area. In addition, the camera module 100 may be divided into a main camera module 10 located in the installation area and an auxiliary camera module 10a located approximately in the middle between the installation area and the tee box. The main camera module 10 is installed in the installation area, and the auxiliary camera module 10a can be installed in the tee box and the installation area. Accordingly, the camera module 100 can track the golf ball until it lands on the ground regardless of the shape of the hole course.

The wide-angle camera 110 may be formed as a general wide-angle camera. For example, the wide-angle camera 110 may refer to a camera with a relatively short focal length and a wide field of view. The wide-angle camera 110 can track the golf ball while capturing images over a wider area. The focal length and angle of view of the wide-angle camera 110 may change depending on the installation location. The wide-angle camera 110 may be configured as a camera with specifications of 1280 x 720 resolution, 1000m field of view of 50m, and 60FPS.

The wide-angle camera 110 may be tilted vertically at a predetermined wide-angle tilting angle or panned horizontally at a predetermined panning angle. The wide-angle tilting angle of the wide-angle camera 110 may be -45 to 60 degrees. Additionally, the wide-angle panning angle of the wide-angle camera 110 may be -165 to 165 degrees. The optical camera may be tilted or panned by the wide-angle tilting motor 120 and the wide-angle panning motor 130.

Meanwhile, the wide-angle camera 110 may be configured to operate at an appropriate wide-angle tilting angle and wide-angle panning angle within the above range depending on the topography of the hole course and the distance to the tee box where it is installed.

The wide-angle camera 110 is electrically connected to the camera control module 200 and can be configured to communicate and be controlled. Accordingly, the wide-angle camera 110 can be configured to turn on/off and operate according to a control signal from the camera control module 200. In addition, the wide-angle camera 110 can capture an image of a tee shot taking place in a tee box under the control of the camera control module 200. Additionally, the wide-angle camera 110 can capture a flight image of a golf ball under the control of the camera control module 200.

The wide-angle tilting motor 120 may be formed as a motor capable of precise control, such as a servo motor. The wide-angle tilting motor 120 is combined with the wide-angle camera 110 and can rotate the wide-angle camera 110 in the vertical direction at a predetermined angle. The wide-angle tilting motor 120 may be combined with the wide-angle camera 110 through a separate frame (not shown). The wide-angle tilting motor 120 can rotate the wide-angle camera 110 at a predetermined wide-angle tilting angle based on the horizontal axis. The wide angle tilting angle may be -45 to 60 degrees in the vertical direction.

The wide-angle tilting motor 120 is electrically connected to the camera control module 200 and can be controlled. The wide-angle tilting motor 120 may be configured to be turned on/off and driven according to a control signal from the camera control module 200. Additionally, the rotation speed and rotation time of the wide-angle tilting motor 120 may be controlled by the camera control module 200.

The wide-angle panning motor 130 may be formed as a motor capable of precise control, such as a servo motor. The wide-angle panning motor 130 may be combined with the wide-angle camera 110 or the wide-angle tilting motor 120. The wide-angle panning motor 130 may be coupled to the wide-angle camera 110 or the wide-angle tilting motor 120 by a separate frame. The wide-angle panning motor 130 can rotate the wide-angle camera 110 or the wide-angle tilting motor 120 at a predetermined wide-angle panning angle. When the wide-angle panning motor 130 is combined with the wide-angle camera 110, the wide-angle camera 110 can be rotated to a predetermined wide-angle panning angle. At this time, the wide-angle panning motor 130 is again combined with the wide-angle tilting motor 120, and can be rotated at a predetermined wide-angle tilting angle together with the wide-angle camera 110 by the wide-angle tilting motor 120. Additionally, when the wide-angle panning motor 130 is combined with the wide-angle tilting motor 120, it can rotate the wide-angle tilting motor 120 and the wide-angle camera 110 at a predetermined wide-angle tilting angle. The wide-angle panning angle may be -165 to 165 degrees in the horizontal direction.

The wide-angle panning motor 130 is electrically connected to the camera control module 200 and can be controlled. The wide-angle panning motor 130 may be configured to be turned on/off and driven according to a control signal from the camera control module 200. Additionally, the rotation speed and rotation time of the wide-angle panning motor 130 may be controlled by the camera control module 200.

The telephoto camera 140 may be formed as a general telephoto camera. The telephoto camera 140 may refer to a camera with a relatively long focal length and a narrow angle of view.

The telephoto camera 140 may be formed as a camera having an appropriate focal length, pixel, resolution, and angle of view depending on the distance between the installation area and the tee box. The telephoto camera 140 may be configured as a camera with specifications of 1280 x 720 resolution, 1000m field of view of 14m, and 60FPS.

The telephoto camera 140 may be tilted vertically at a predetermined telephoto tilting angle or panned horizontally at a predetermined telephoto panning angle. Additionally, the telephoto camera 140 may be tilted at a wide-angle tilting angle or panned at a wide-angle panning angle when the wide-angle camera 110 is tilted or panned. Accordingly, the telephoto camera 140 may be tilted or panned at a wide-angle tilting angle or a wide-angle panning angle together with the wide-angle camera 110, and then may be further tilted at a telephoto tilting angle or panned at a telephoto panning angle. The telephoto camera 140 can be tilted or panned independently from the wide-angle camera 110.

Since the telephoto camera 140 has a relatively small field of view compared to the wide-angle camera 110, it can be additionally tilted at a telephoto tilting angle for efficient tracking of the golf ball. The telephoto tilting angle of the telephoto camera 140 may be -30 to 50 degrees. Accordingly, in addition to the wide-angle tilting angle of the wide-angle camera 110, the telephoto camera 140 can be further tilted by -30 degrees in the downward direction and by +50 degrees in the upward direction. Additionally, the telephoto panning angle of the telephoto camera 140 may be -165 to 165 degrees. Accordingly, the telephoto camera 140 can be panned further than the wide-angle camera 110 by the telephoto panning angle.

The telephoto camera 140 is electrically connected to the camera control module 200 and can be configured to communicate and be controlled. Accordingly, the telephoto camera 140 can be configured to turn on/off and operate according to a control signal from the camera control module 200. In addition, the telephoto camera 140 can capture an image of a tee shot taking place in a tee box under the control of the camera control module 200. Additionally, the telephoto camera 140 can capture a flight image of a golf ball under the control of the camera control module 200.

The telescopic tilting motor 150 may be formed as a motor capable of precise control, such as a servo motor. The telephoto tilting motor 150 may be combined with the telephoto camera 140 through a separate frame (not shown). The telephoto tilting motor 150 can rotate the telephoto camera 140 at a predetermined telephoto tilting angle. The telephoto tilting motor 150 can rotate the telephoto camera 140 at a telephoto tilting angle. The telescopic tilting angle may be -30 to 50 degrees in the vertical direction.

The telescopic tilting motor 150 is electrically connected to the camera control module 200 and can be controlled. The telescopic tilting motor 150 may be configured to be turned on/off and driven according to a control signal from the camera control module 200. Additionally, the rotation speed and rotation time of the telescopic tilting motor 150 may be controlled by control of the camera control module 200.

The telescopic panning motor 160 may be formed as a motor capable of precise control, such as a servo motor. The telephoto panning motor 160 may be coupled to the telephoto camera 140 or the telephoto tilting motor 150 through a separate frame. The telephoto panning motor 160 can rotate the telephoto camera 140 or the telephoto tilting motor 150 at a predetermined wide-angle panning angle. When the telephoto panning motor 160 is combined with the telephoto camera 140, the telephoto camera 140 can be rotated to a predetermined wide-angle panning angle. At this time, the telephoto panning motor 160 is again combined with the telephoto tilting motor 150, and can be rotated at a predetermined telephoto tilting angle together with the telephoto camera 140 by the telephoto tilting motor 150. Additionally, when the telephoto panning motor 160 is combined with the telephoto tilting motor 150, it can rotate the telephoto tilting motor 150 and the telephoto camera 140 at a predetermined telephoto tilting angle. The telephoto panning angle may be -165 to 165 degrees in the horizontal direction.

The telephoto panning motor 160 is electrically connected to the camera control module 200 and can be controlled. The telephoto panning motor 160 may be configured to be turned on/off and driven according to a control signal from the camera control module 200. Additionally, the rotation speed and rotation time of the telephoto panning motor 160 may be controlled by the camera control module 200.

The camera control module 200 is connected to enable wired or wireless communication with the wide-angle camera 110 and the telephoto camera 140, transmits and receives control signals, and records images captured by the wide-angle camera 110 and the telephoto camera 140. Information can be received. Additionally, the camera control module 200 can be electrically connected to and control the wide-angle tilting motor 120, the wide-angle panning motor 130, the telephoto tilting motor 150, and the telephoto panning motor 160. The camera control module 200 can control the rotation time and number of rotations of each motor. Accordingly, the camera control module 200 can control the tilting and panning angles of the wide-angle camera 110 and the telephoto camera 140.

The commercial camera control module 200 may select at least two video images captured at a predetermined frame interval or shooting time interval (for example, 60FPS) from the captured image transmitted from the camera module 100. The frame interval or shooting time interval needs to be determined so that the golf ball is located at a position that does not overlap each other in the two video images. In addition, the frame interval or shooting time interval needs to be determined so that the golf ball is present in both video images. Accordingly, the frame interval or shooting time interval may be determined differently depending on the amount of light incident on the camera and the time required for image processing. In addition, the light quantity conditions and camera angle of view will be determined by considering the environment of the camera installation location, the size of the golf ball appearing in the video image, the expected flight speed of the golf ball at the time of installation tee shot, and the expected flight angle of the golf ball observed from the camera. You can. Meanwhile, the camera control module 200 may additionally select the initial image captured after transmitting the tee shot start signal.

The camera control module 200 can detect a golf ball being tee-shot from a tee box from video images captured by the wide-angle camera 110 and the telephoto camera 140. Additionally, the camera control module 200 can control the camera module 100 to track the detected golf ball. That is, the commercial camera control module 200 recognizes and tracks the golf ball in the video image captured by the camera module 100 from the tee shot until it lands on the ground, and the camera module 100 captures the image of the golf ball. You can do it. Additionally, the camera control module 200 can generate a landing image of a golf ball landing on the ground.

In addition, the camera control module 200 is connected to the central server 300 through the Internet or a communication network and can transmit and receive information necessary to perform the overall procedures of the golf ball tracking method. For example, the camera control module 200 can transmit and receive all information necessary for tracking a golf ball. Additionally, the camera control module 200 can receive information from the receiving terminal 400 that is conducting a round of golf. Additionally, the camera control module 200 may transmit a landing image of a golf ball or a flight image of a golf ball when a golfer tees off to the central server 300.

The central server 300 can store and provide information necessary to provide golf ball tracking information and golf ball landing information. The central server 300 may be linked with the camera control module 200 through the Internet or a separate communication network. The central server 300 may provide necessary information to the camera control module 200. For example, the central server 300 may provide golfer's receiving terminal information. The central server 300 may receive a golf ball landing image or a golf ball flight image from the camera control module 200.

The central server 300 may be connected to the receiving terminal 400 using the Internet or a separate communication network. Additionally, the central server 300 may transmit a golf ball landing image or a golf ball flight image generated in a hole course where a golfer is playing a round of golf to the receiving terminal 400.

The receiving terminal 400 is linked to the central server 300 or the camera control module 200 and can receive a golf ball landing image or a golf ball flight image. Additionally, the receiving terminal 400 may transmit information on the golfer or caddy necessary to implement the golf ball tracking method to the central server 300.

The receiving terminal 400 may be a personal terminal carried by the golfer or a caddy terminal mounted on a cart operated by a caddy. Additionally, the receiving terminal 400 may be a variety of terminals capable of connecting to the central server 300. The receiving terminal 400 may be a variety of terminals capable of communication through Wi-Fi, which is short-distance communication, or 4G or 5G, which is wireless communication.

The receiving terminal 400 may transmit a trigger signal for a tee shot to the central server 300 or the camera control module 200. The central server 300 or the camera control module 200 may receive a trigger signal and transmit a shooting start signal to the camera module 100. The camera module 100 may receive a signal to start shooting from the camera control module 200 and proceed with shooting.

The receiving terminal 400 may be connected to the central server 300 through the Internet or a separate communication network. The receiving terminal 400 may receive an image or video of a golf ball landing from the central server 300 during a golfer's golf round. Additionally, the receiving terminal 400 can receive a flight image of a golf ball. Accordingly, the golfer can confirm the location where the golf ball lands.

Additionally, when the golf ball tracking system includes a local server 500, the receiving terminal 400 can access the local server 500 and receive a video or image of the golf ball landing. At this time, the receiving terminal 400 may be a manager terminal used by a golf course manager. In addition, when the camera control module 200 provides a flight image of the golf ball using local area networks, the receiving terminal 400 receives the landing image or landing image of the golf ball from the camera control module 200. You can.

The local server 500 may be a server installed at a specific golf course. The local server 500 can be connected to the central server 300 using the Internet or a separate communication network. The local server 500 can connect to the camera control module 200 installed at the corresponding golf course. Accordingly, the local server 500 may receive a golf ball landing image or a golf ball flight image from the camera control module 200.

Additionally, the local server 500 can connect to the receiving terminal 400 of a golfer who visits the golf course and plays a round of golf. The local server 500 may transmit to the receiving terminal 400 an image of the landing of a golf ball hit by a tee shot by a golfer or an image of the flight of the golf ball.

Next, a golf ball tracking method according to an embodiment of the present invention will be described.

Figure 4 is a flowchart of a golf ball tracking method according to an embodiment of the present invention. 5A and 5B are exemplary video images taken at predetermined time intervals after a tee shot. FIGS. 6A and 6B are exemplary gray images generated by converting the video images of FIGS. 5A and 5B into gray scale. 7 is an example identification image generated from the gray images of FIGS. 6A and 6B. FIGS. 8A and 8B are binarized images generated from video images taken at predetermined intervals.

Referring to FIGS. 4 to 8B, the golf ball tracking method of the present invention includes a camera image capture step (S10), a video image selection step (S20), an identification image generation step (S30), and a golf ball detection step ( It may include a golf ball color value determination step (S50), a golf ball tracking step (S60), and a golf ball landing confirmation step (S70). Additionally, the golf ball tracking method may further include a golf ball lock-on step (S42) and a clutter rejection step (S44). The golf ball tracking method may further include a golf ball flight image generating step (S80) and a golf ball flight image providing step (S90).

The golf ball tracking method uses the wide-angle camera 110 and the telephoto camera 140 to track the golf ball from the tee shot until it lands on the ground, thereby providing a landing position where the golf ball lands on the ground. In addition, the golf ball tracking method and system processes video images captured by the wide-angle camera 110 and the telephoto camera 140 to recognize the golf ball, so it can recognize and track the golf ball more accurately and efficiently. In the following description, when the wide-angle camera 110 and the telephoto camera 140 are applied simultaneously or used together, the wide-angle camera 110 and the telephoto camera 140 may be referred to as cameras.

The golf ball tracking method may be performed using the golf ball tracking system according to FIG. 1. That is, the golf ball tracking method includes a wide-angle camera 110, a wide-angle tilting motor 120, a wide-angle panning motor 130, a telephoto camera 140, a telephoto tilting motor 150, and a telephoto panning motor 160. This can be done through the system. Meanwhile, the golf ball tracking method may be performed using various systems including a wide-angle camera 110 and a telephoto camera 140.

The camera image capturing step (S10) is a step of capturing a tee shot image with the wide-angle camera 110 and the telephoto camera 140 for an area of interest set on the upper part of the tee box, including the golf ball being tee shot. Here, the tee shot image may refer to an image captured during a predetermined shooting time before and after the time when the golfer tees the golf ball. That is, the tee shot image may be an image captured of the area of interest during the shooting time including the time when the golfer tees off.

The camera image capturing step (S10) may be started by a separate trigger signal transmitted to the wide-angle camera 110 and the telephoto camera 140. The trigger signal may be transmitted to the wide-angle camera 110 and the telephoto camera 140 by a receiving terminal 400, such as a caddy terminal carried by a caddy or a golfer terminal carried by a golfer. Additionally, the camera image capturing step (S10) can be performed without a separate trigger signal. For example, if at least two golfers are playing a round as a team, and it is clear that one golfer will take a tee shot first and then the other golfer will take a tee shot in succession, a separate golfer will be charged for the other golfer. The camera image capturing step (S10) can be started without receiving the trigger signal. That is, the camera image capturing step (S10) receives a trigger signal only when the first golfer on a team tees off, and can proceed without receiving a trigger signal from the next golfer. Additionally, the camera image capturing step (S10) may be performed a predetermined time before the golfer tees off. For example, the camera image capturing step (S10) may be performed several seconds before the golfer tees off. Additionally, the camera image capturing step (S10) may be performed from the time the golfer prepares for a tee shot at the tee box.

The area of interest is an area including the area where a golf ball that is normally teed off flies. As shown in FIG. 2, the area of interest is an area set perpendicular to the ground and the direction in which a golf ball tee-shot from a tee box flies.

The camera image capturing step (S10) can be performed at an appropriate frame and resolution corresponding to the performance and characteristics of the wide-angle camera 110 and the telephoto camera 140. One or two wide-angle cameras 110 and telephoto cameras 140 may be installed depending on the shape of the hole course. The wide-angle camera 110 and the telephoto camera 140 may be installed to photograph the area of interest from the front of the area of interest. When a plurality of the wide-angle camera 110 and the telephoto camera 140 are installed, the wide-angle camera 110 and the telephoto camera 140 installed closest to the tee box may be installed to photograph the area of interest.

The video image selection step (S20) is a step of selecting at least two video images from the tee shot video at a set image time interval. That is, the video image may be an image selected at a set frame interval or time interval from the tee shot video, as shown in FIGS. 5A and 5B. The video images may be at least two video images taken at frame intervals before and after the tee shot. Additionally, the video image may preferably be at least two images taken at frame intervals after the tee shot. 5A and 5B are exemplary video images taken at predetermined time intervals after a tee shot. For example, FIGS. 5A and 5B may be video images taken at 1.06 seconds and 1.13 seconds, respectively. The image time interval may be set to a predetermined frame interval or shooting time interval. The image time interval can be set to 10 to 60 frames or 0.1 to 1 second. The frame interval or shooting time interval needs to be determined so that the golf balls do not overlap each other in the two video images. In addition, the frame interval or shooting time interval needs to be determined so that the golf ball is present in both video images. Accordingly, the frame interval or shooting time interval may be determined differently for each hole with different arrangement of the tee box and fairway. The frame interval or shooting time interval may be determined by considering the expected flight speed of the golf ball at the time of a tee shot, the expected flight angle of the golf ball observed from the camera module 100, etc. The video image may be a color image.

The identification image generating step (S30) is a step of generating an identification image that reflects the color value difference between at least two selected video images. The identification image generation step (S30) may convert at least two video images into gray images. Next, in the identification image generation step (S30), the difference in color values between the two gray images may be calculated and the calculated color values may be reflected to generate an identification image. Here, the video image may be a color image as mentioned above. Accordingly, each pixel of the video image may have an RGB value as a color value for the pixel. The gray image may be an image in which each pixel has a gray scale of 0 (black) to 255 (white) as a color value. The gray image may have a gray scale color value according to the RGB values of the video image. Additionally, the identification image may be an image composed of only two colors. The identification image may be an image generated by the difference in color values between two gray images. Therefore, the identification image may mean an image consisting of only black and white. In the identification image, each pixel may have a color value of 0 or 255. The identification image may be an image in which the golf ball and the background are displayed in different colors so that the golf ball can be easily identified. FIGS. 6A and 6B are exemplary gray images obtained by converting the video images of FIGS. 5A and 5B into gray scale.

The identification image generation step (S30) may include a gray image generation process, a color value difference calculation process, and an identification image generation process.

The gray image generation process is a process of converting at least two video images into gray images. As mentioned above, the at least two video images may be images captured temporally at predetermined image time intervals. Accordingly, the gray image may include a first gray image converted from a video image captured relatively first and a second gray image converted from a video image captured at the next image time interval. When the gray image is generated in N pieces, it may include the Nth gray image converted from the latest captured video image.

As mentioned above, in the video image, each pixel has an RGB value as the color value for the pixel. In the gray image, each pixel has a gray scale of 0 (black) to 255 (white) as a color value. The gray image can be converted by a general process of converting a color image to a gray image.

The color value difference calculation process is a process of calculating the color value difference of each pixel by comparing the color values of each pixel at the corresponding position of the two gray images. In the color value difference calculation process, the color value difference may be calculated by subtracting the color value of the first gray image from the second gray image into which the video image captured relatively late is converted. Since the second gray image includes the most recent position of the golf ball in time, calculating the difference from the first gray image based on the second gray image may be advantageous in tracking the position of the golf ball. Meanwhile, when the gray image consists of N, the color value difference can be calculated based on the Nth gray image. Through the color value difference calculation process, the color value difference corresponding to each pixel of the second gray image can be calculated.

The video image is an image extracted from an image captured in a short period of time while taking a tee shot using a fixed wide-angle camera 110 or a telephoto camera 140. Since the video images are images of a tee box, they include a moving object, a golf ball, and a non-moving background. Meanwhile, the video images may rarely include moving objects such as birds or leaves.

Therefore, when comparing the video images, there is no change in color values except for the areas where the golf ball is located. In addition, the gray image also has almost the same gray scale color values, except for the areas where the golf ball is located. Therefore, when the difference in color values of the two gray images is calculated, there is almost no difference in color values in areas other than the area where the golf ball is located, and a color value difference may occur only in the area where the golf ball is located. The difference in color value of the area where the golf ball is located may be determined according to the difference between the color of the golf ball and the color of the background of the area through which the golf ball passes.

The identification image generation process assigns a white color value to pixels whose color value difference is greater than the set identification standard value for each pixel and displays them as white areas, and assigns a black color value to pixels smaller than the identification standard value to display them as a white area. This is the process of creating an identification image by marking it with color. 7 is an example identification image generated from the gray images of FIGS. 6A and 6B. The color value of white may be 255, and the color value of black may be 0. The identification image has a color value of 0 or 255 for each pixel, and may be formed as a black and white image. For example, when the identification reference value is 100, pixels with a color value difference greater than 100 may be assigned a color value of 255, and pixels with a color value difference less than 100 may be assigned a color value of 0. Accordingly, the identification image may be formed as an image including only white and black areas. In the identification image, the area where the golf ball is located may be assigned a color value corresponding to white, and the area where the background is located may be assigned a color value corresponding to black.

The identification image may be an image in which the area where the golf ball is located is displayed in white and the rest is displayed in black. Accordingly, the identification image allows more accurate and efficient distinction between the golf ball and the background. The area where the golf ball is located in the identification image may be circular, and may be an area corresponding to the size of the golf ball in the video image.

The golf ball detection step (S40) is a step of detecting an area displayed in white in the identification image as a golf ball. As mentioned above, in the identification image, the area where the golf ball is located may be displayed in white, and the area where the background is located may be displayed in black. Therefore, in the golf ball detection step (S40), the white area can be detected as a golf ball image. Additionally, in the golf ball detection step (S40), an area having an area smaller than the total area of the white area can be detected from the center of the white area.

The white area may not be formed as a complete circle in the identification image, but may be formed as an oval shape, a square shape, or an irregular shape. Therefore, the golf ball can be detected as an area corresponding to a completely circular or square shape in the white area. In this case, the golf ball may be detected with an area smaller than the white area, and may be detected with an area smaller than the golf ball in the video image. In the golf ball detection step (S40), the golf ball can be set as coordinates and area in the identification image. Additionally, in the golf ball detection step (S40), the center of mass of the golf ball image can be calculated and calculated as coordinates (x and y coordinates) in the video image.

The golf ball lock-on step (S42) is a step of removing objects other than golf balls from the identification image. That is, the golf ball lock-on step (S42) may remove a white area other than the white area where the golf ball is located when there are a plurality of white areas in the identification image. For example, a white area where the golf ball is not located may be assigned a black color value. As mentioned above, the video image may include objects such as fallen leaves or birds along with a golf ball. In this case, in the golf ball detection step (S40), it may be recognized that there are a plurality of golf balls. The golf ball lock-on step (S42) may be performed before the golf ball detection step (S40). Additionally, the golf ball lock-on step (S42) can confirm whether the detected golf ball is an actual golf ball.

The golf ball lock-on step (S42) may separate the white area by an object other than a golf ball by considering the area and shape of the white area and the moving speed or moving distance of the white area. Here, the moving speed of the white area can be calculated using the distance between each position corresponding to the white area in the first gray image and the second gray image and the image time interval between the first gray image and the second gray image. there is. The moving speed range of the golf ball can be set based on the average moving speed when the golf ball is tee shot. Additionally, the moving distance of the white area can be calculated using the moving speed of the golf ball and the image time interval. The range of movement distance of the golf ball can be set based on the average movement speed when the golf ball is tee shot. In the golf ball lock-on step (S42), the golf ball can be detected by specifying a white area due to the golf ball.

The clutter rejection step (S44) is a step of removing clutter caused by the background from the identification image. Here, the clutter may mean that the identification image is displayed as a white area, similar to a golf ball, by a background, etc. Since the video image is an image captured by the wide-angle camera 110 and the telephoto camera 140 while moving along the golf ball, the background along with the golf ball may appear as a moving object in the video image. Accordingly, the video images may differ in color for each pixel due to the golf ball and the background. Additionally, in the identification image, a portion of the background along with the golf ball is displayed as a white area, which may generate clutter (noise) regarding the golf ball.

In the golf ball detection step (S40), the golf ball is detected using an identification image generated by at least two video images captured by the wide-angle camera 110 and the telephoto camera 140, so that the golf ball is detected in the white area by the background. Detecting a golf ball may be affected by this. The background can be largely removed in the identification image generation step (S30) because the difference in gray scale color values between gray images is larger than that of a golf ball. Therefore, the clutter rejection step (S44) can mainly remove clutter (noise) displayed as a white area due to the background. Additionally, the clutter rejection step (S44) can remove clutter that is further away from the golf ball than clutter that is closer to the golf ball. In addition, clutter close to the golf ball has a small effect on calculating the position of the golf ball, but clutter located far from the golf ball may cause an error in calculating the position of the golf ball and needs to be removed.

The clutter rejection step (S44) may be performed by applying a labeling algorithm, a contouring algorithm, or/and a template matching algorithm to the white area generated in the identification image. Since the labeling algorithm, contouring algorithm, or/and template matching algorithm are algorithms commonly used when recognizing objects or specific areas in video images, detailed descriptions thereof will be omitted here.

The golf ball color value determination step (S50) is a step of determining the color value of the video image corresponding to the position of the golf ball detected in the identification image as the golf ball color value. The golf ball color value may be determined by the RGB value of the pixel forming the corresponding position in the video image. Since the golf ball is used outdoors, its color may change depending on light conditions such as weather and sunlight level. The color of the golf ball changes depending on light conditions, but when viewed by a person, the change may be perceived as small. However, the color of the golf ball has a coded value in the video image and changes together depending on lighting conditions. The golf ball color value can be used in the golf ball tracking step (S60) that follows. The golf ball color value may be set in a range including an upper limit and a lower limit based on the color value of the pixel. For example, the golf ball color value range may be determined as +10% as the upper limit and -10% as the lower limit based on the color value of the pixel.

In the golf ball tracking step (S60), the golf ball is recognized by converting the video image captured by the wide-angle camera 110 and the telephoto camera 140 into a binary image using the golf ball color value, and the wide-angle camera 110 and the telephoto camera 140 This is the step of tracking the golf ball while controlling the camera 140. In the golf ball tracking step (S60), the golf ball can be more easily recognized by converting the video image into a binary image using the color value of the golf ball.

Since the golf ball continues to fly after a tee shot, it can move from the center to the outside in sequentially captured video images. Accordingly, the wide-angle camera 110 and the telephoto camera 140 can track the golf ball without missing it when the golf ball is controlled to be located in the center of the video image. If the golf ball is positioned in the center of the video image, the probability that the golf ball deviates from the wide-angle camera 110 when the wide-angle camera 110 and the telephoto camera 140 track the golf ball can be reduced. The golf ball tracking step (S60) can enable more efficient tracking of the golf ball by continuously positioning the golf ball at the center of the video image.

In the golf ball tracking step (S60), the golf ball can be tracked by simultaneously using the wide-angle camera 110 and the telephoto camera 140. In the golf ball tracking step (S60), the golf ball can be tracked by complementary use of the wide-angle camera 110 and the telephoto camera 140. In the golf ball tracking step (S60), when the telephoto camera 140 or the telephoto camera 140 misses the golf ball, the wide-angle camera 110 and the telephoto camera ( 140) can track the golf ball without missing it. For example, when the telephoto camera 140 misses the golf ball (if the golf ball moves abnormally fast, such as when it bounces off a rock or tree), the rotation angle or direction of the wide-angle camera 110 is determined. Using the data, the telephoto camera 140 can be rotated to find and track the golf ball again. Additionally, when the wide-angle camera 110 misses the golf ball (when the golf ball rises to the sky and there are clouds in the sky, making it difficult to distinguish its color from the golf ball), data on the rotation angle or direction of the telephoto camera 140 is used. Thus, the wide-angle camera 110 can be rotated to find and track the golf ball again.

The golf ball tracking step (S60) may include an image binarization process, a golf ball recognition process, and a golf ball position change process. Additionally, the golf ball tracking step (S60) may further include a search area-of-interest setting process. The golf ball tracking step (S60) may track the golf ball by repeating the image binarization process, golf ball recognition process, and golf ball position change process.

The image binarization process is a process of converting a video image into a binarized image including a golf ball area with a golf ball color value and a background area without a golf ball color value. The golf ball color value may be a color value within a predetermined range as described above. The binarized image may display the golf ball area in white and the background area in black. Therefore, the image binarization process can remove all colors except the color of the golf ball from the video image. FIGS. 8A and 8B are binarized images generated from video images taken at predetermined intervals. Referring to FIGS. 8A and 8B, it can be seen that the position of the golf ball changes in the direction of flight in the two binarized images.

The process of setting the search area of interest is a process of setting the area including the golf ball area in the binarized image as the search area of interest. The search area of interest may refer to an area for searching for a golf ball in a binarized image. Since the golf ball continues to fly, the area that must be searched to recognize the golf ball continues to change. The search area of interest setting process is a process of setting a search area of interest to be searched to recognize a golf ball in a binarized image. In the process of setting the search area of interest, the search area of interest may be set to an area that is relatively smaller than the total area of the binarized image. The search area of interest may be formed as an area including the golf ball area in the binarized image. For example, the search area of interest may be set to have a width increased by +500% from the maximum width of the golf ball area and a height increased by +500% from the maximum height of the golf ball area. If the golf ball area is approximately circular, the maximum width of the golf ball area may be the diameter. Additionally, when the golf ball area has an irregular shape, the maximum width of the golf ball area may be the length of the longest line among lines extending in the horizontal direction. The process of setting the search area of interest can reduce the area to be searched in the golf ball recognition process, thereby increasing the calculation speed for golf ball recognition and reducing the influence of clutter.

The golf ball recognition process is a process of recognizing a golf ball in a binarized image and determining the position of the golf ball. The golf ball recognition process can recognize a white area, which is the golf ball area, while scanning a binarized image. At this time, the golf ball recognition process may scan the entire binarized image or a search area of interest set in the binarized image. Additionally, the golf ball recognition process may determine the location of the recognized golf ball from the binarized image. The position of the golf ball can be calculated by calculating the center of gravity of the golf ball image recognized in the binarized image. The position of the golf ball can be set as coordinate values (x, y) for the x and y axes in the binarized image.

The golf ball position change process is a process of moving the directions of the wide-angle camera 110 and the telephoto camera 140 so that the recognized position of the golf ball is at the center of the binarized image. The golf ball position change process may be performed by controlling the wide-angle camera 110 and the telephoto camera 140 so that the calculated position of the golf ball is centered in the binarized image. That is, the process of changing the golf ball position involves controlling and rotating the wide-angle camera 110 and the telephoto camera 140 so that the golf ball is located at the center of the binarized image. At this time, the wide-angle camera 110 and the telephoto camera 140 can rotate horizontally and vertically.

As mentioned above, the golf ball tracking step (S60) may continuously track the golf ball by repeating the image binarization process, golf ball recognition process, and golf ball position change process. In the golf ball tracking step (S60), when the golf ball position change process is completed for one video image, the image binarization process, golf ball recognition process, and golf ball position change process can be performed again for a new video image. Additionally, the search area of interest may be set as an area reflecting the search area of interest in the video image before the video image in which the current image binarization process is being performed and the moving direction and moving speed of the golf ball. For example, the moving direction and moving speed of the golf ball may be calculated by reflecting the moving direction and moving distance of the golf ball in the previous golf ball tracking steps (S60). In the golf ball tracking step (S60), the trajectory of the golf ball as seen from the ground can be derived through the rotation angles of the wide-angle camera 110 and the telephoto camera 140.

The golf ball landing confirmation step (S70) is a step of confirming whether the golf ball has landed on the ground and generating a landing image including the landed golf ball. The golf ball landing confirmation step (S70) is a step of checking whether the golf ball is recognized in the binarized image as the golf ball tracking step (S60) progresses. More specifically, the golf ball landing confirmation step (S70) is a step of checking whether the golf ball is recognized in the golf ball recognition process of the golf ball tracking step (S60). In the golf ball landing confirmation step (S70), if the golf ball recognition process is not repeated a certain number of times, it is determined that there is no movement of the golf ball and it can be considered that the golf ball has landed. The golf ball landing confirmation step (S70) may generate a landing image of the golf ball landing on the ground. The landing image may be an image including the landed golf ball and the surrounding background. Additionally, the golf ball landing confirmation step (S70) may generate a landing image.

Additionally, in the golf ball landing confirmation step (S70), when the landing of the golf ball is confirmed, a landing video image including the landed golf ball is transmitted to the receiving terminal 400 to confirm the landing location of the golf ball. The receiving terminal 400 displays the received landing video image so that the caddy or golfer can check the location where the golf ball landed.

The golf ball flight image generation step (S80) generates a flight video with images captured by the wide-angle camera 110 or/and the telephoto camera 140 from the camera image capture step (S10) to the golf ball landing confirmation step (S70). This is the creation stage. The golf ball tracking method of the present invention can capture and store golf ball flight images using the wide-angle camera 110 and the telephoto camera 140 starting from the camera image capturing step (S10) in order to perform each step. Therefore, in the golf ball flight image generation step (S80), the stored image of one tee shot golf ball can be separated and a flight video can be generated. The golf ball flight image generation step (S80) may be performed after the golf ball landing confirmation step (S70) is completed. The flight video may include an image of a golf ball flying and an image of a golf ball landing.

The golf ball flight image transmission step (S90) is a step of transmitting the golf ball flight image generated in the golf ball flight image generation step (80) to the receiving terminal 400. The golf ball flight video may be a flight video using a wide-angle camera 110 or a flight video using a telephoto camera 140. The golf ball flight image may be transmitted to the receiving terminal 400 by the central server 300.

What has been described above is only one embodiment for implementing the golf ball tracking method and system for the same according to the present invention, and the present invention is not limited to the above-described embodiment, and is as claimed in the claims below. Anyone with ordinary knowledge in the field to which the invention pertains will say that the technical spirit of the present invention exists to the extent that various modifications can be made without departing from the gist of the invention.

100: Camera module 110: Wide-angle camera
120: Wide-angle tilting motor 130: Wide-angle panning motor
140: Telephoto camera 150: Telephoto tilting motor
160: Telephoto panning motor 200: Camera control module
300: Central server 400: Golfer terminal
500: Local server

Claims (7)

A camera capture image step of capturing a tee shot image with a wide-angle camera and a telephoto camera for an area of interest set at the top of the tee box, including the golf ball being tee shot;
A video image selection step of selecting at least two video images at image time intervals from the tee shot video;
An identification image generation step of generating an identification image reflecting color value differences between the at least two selected video images;
A golf ball detection step of detecting an area displayed in white in the identification image as the golf ball;
A golf ball color value determination step of determining the color value of the video image corresponding to the position of the golf ball detected in the identification image as the golf ball color value;
A golf ball tracking step of converting the video image captured by the wide-angle camera and the telephoto camera into a binary image using the golf ball color value to recognize the golf ball and tracking the golf ball while controlling the wide-angle camera and the telephoto camera;
A golf ball landing confirmation step of confirming whether the golf ball has landed on the ground and generating a landing image including the landed golf ball,
The golf ball tracking step is
An image binarization process of converting the video image into a binarized image including a golf ball area having the golf ball color value and a background area not having the golf ball color value;
A golf ball recognition process of recognizing the golf ball in the binarized image and determining the position of the golf ball, and
A golf ball tracking method comprising a golf ball position change process of moving the directions of the wide-angle camera and the telephoto camera so that the recognized position of the golf ball is centered in the binarized image. According to claim 1,
The identification image generation step is
A gray image generation process that converts at least two video images into gray images,
A color value difference calculation process of calculating the color value difference of each pixel by comparing the color value of each pixel at a corresponding position in the two gray images, and
For each pixel, a white color value is assigned to the pixel whose color value difference is greater than the set identification standard value and displayed as a white area, and a black color value is assigned to the pixel less than the identification standard value and displayed as a black area. A golf ball tracking method comprising an identification image generation process for generating the identification image. According to claim 2,
A golf ball tracking method further comprising a golf ball lock-on step of displaying a white area other than the white area where the golf ball is located as a black area when there are a plurality of white areas in the identification image. According to claim 2,
A golf ball tracking method further comprising a clutter rejection step of removing clutter caused by a background from the identification image. According to claim 1,
A golf ball flight image generation step of capturing the flight image of the golf ball with the wide-angle camera and the telephoto camera from the camera image capturing step to the golf ball landing confirmation step to generate a golf ball flight image;
A golf ball tracking method further comprising the step of transmitting the golf ball flight image to a receiving terminal. According to claim 1,
A golf ball tracking method, wherein the wide-angle camera and the telephoto camera are linked together to track the golf ball. A camera module that includes a wide-angle camera and a telephoto camera and takes images of the flight of the golf ball,
A camera control module that controls the camera module,
A central server linked to the camera control module through the Internet or a separate communication network, and
A golf ball tracking system that is linked to the central server or camera control module and includes a receiving terminal that receives a golf ball landing image or a golf ball flight image of the golf ball, and performs the golf ball tracking method according to claim 1.