KR20120033946A - Apparatus and method for calculating motion of object - Google Patents

Abstract

PURPOSE: A device for calculating the movement of an object and a method thereof are provided to drive a part of lines of a low speed camera to acquire a plurality of line scan images at a low cost. CONSTITUTION: An image acquiring unit(110) acquires first images for each axis by at least two or more axes line scan on a rotating object. An image generating unit(120) generates second images with the object by combining the first images acquired in the same time zone. A movement calculating unit(130) calculates the displacement of the object based on the second images. The stereoscopic speed and spin of the rotating object is calculated by combining the line scan images.

Description

Apparatus and method for calculating motion of object}

The present invention relates to an apparatus and method for calculating the movement of an object. More particularly, it relates to an apparatus and a method for measuring the initial speed and spin of a striking rotor.

Techniques for measuring the speed and spin of a rotating body in simulation games are based on laser sensors or high-speed area scan cameras. Rotor speed and spin measurement systems using laser sensors include the GolfAchiever system from Folcatron, USA, and Rotor speed and spin measurement systems using high-speed range scan cameras include the High Definition Golf system from Interactive Sports Technologies, Canada.

However, the system using the laser sensor calculates the firing speed and spin of the rotating body through the swing pass and club head speed analysis based on the laser (ex. Ball) passing through the laser light film and the laser image of the club. This method has the advantage of being precise, but it is difficult to apply to low-cost arcade games because the laser sensor and the laser film device are expensive and the inconvenience of ensuring the safety of the laser device is inconvenient.

The system using the high-speed area scan camera is a QuadVision system that uses the stereoscopic vision technology using four high-speed cameras to control the speed, direction, axis of rotation, and angle of rotation of the rotating body (ex. Ball) and club. 3D can be restored. However, since four high-speed cameras are used, the system cost is high, which is difficult to apply to low-cost arcade games, and there is a problem that synchronization and maintenance between a plurality of cameras are not easy.

SUMMARY OF THE INVENTION The present invention has been made to solve the above-mentioned problems, and obtains a line scan image using only a few lines of an area scan camera, and combines the line scan images into three-dimensional speed and three-dimensional spin of the rotating body. An object of the present invention is to propose an apparatus and method for calculating an object motion.

SUMMARY OF THE INVENTION The present invention has been made to achieve the above object, and is an apparatus for recognizing the speed and spin of a rotating body, and adjusting to scan only a few lines of an existing area scan camera to capture a line scan image at high speed. Propose a ring device.

In addition, the present invention provides a method of operating one or several individual lines using any line scan image capturing device, capturing a plurality of consecutive rotational motion images for the individual lines, Generating a composite image by combining a plurality of continuous rotational motion images for each line, calculating a three-dimensional velocity vector of the rotating body using the composite image of one or several lines, and The present invention proposes a rotational speed and spin recognition method including calculating a three-dimensional spin vector of a rotating body using a composite image of one or several lines.

Preferably, the step of generating a composite image for each line calculates time coherence information for the plurality of consecutive rotating body motion images to be combined to generate the composite image.

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

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

Preferably, the calculating of the three-dimensional velocity vector and the spin vector of the rotating body includes calculating a change in the curvature of the outer shell arc in the line scan image constituting the complex image to calculate the depth change of the center point and the singular points. The depth change is combined with the two-dimensional coordinate change to calculate the three-dimensional velocity and spin of the rotating body.

The present invention has the following effects. First, by driving only a few lines in a low speed low speed camera to obtain a plurality of line scan images, the system can be configured at low cost with the same effect as a high speed camera. Second, the velocity vector and the spin vector of the rotating body can be calculated by combining the line scan images captured at predetermined times according to the motion of the rotating body to generate a composite image. Third, by using the velocity vector and the spin vector of the rotating body calculated on the basis of the composite image as data, it is possible to generate content (eg game content) that provides a realistic physics simulation.

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

Hereinafter, with reference to the accompanying drawings will be described in detail the operating principle of the present invention. In the following description of the present invention, if it is determined that a detailed description of a known function or configuration may unnecessarily obscure the subject matter of the present invention, the detailed description thereof will be omitted. The following terms are defined in consideration of the functions of the present invention, and may be changed according to the intentions or customs of the user, the operator, and the like. Therefore, the definition should be made based on the contents throughout the specification.

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

According to FIG. 1, the object motion calculating apparatus 100 includes an image obtaining unit 110, an image generating unit 120, a motion calculating unit 130, a power supply unit 150, and a main control unit 160.

The object motion calculating device 100 is a device for measuring the initial speed and spin of the hitting rotating body. The object motion calculation apparatus 100 combines a composite image that combines a line scan image and a camera that shoots a rotating body hit, thrown, kicked, or rolled by a high speed effect using only one or several lines of a low-cost camera during a sports arcade game. And a controller for restoring the initial trajectory and rotation of the rotor and calculating the three-dimensional velocity and spin of the rotor. In this embodiment, the image acquisition unit 110 may be implemented as a camera, and other components may be implemented as a controller. The functions of the camera and the controller will be described later with reference to FIGS. 4 to 8.

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

The image generator 120 combines the obtained first images to generate a second image including an object. The image generator 120 may include a time coherence information calculator 121 and an image combiner 122 as shown in FIG. 2A. In this case, the time coherence information calculation unit 121 calculates time coherence information for each first image. The image combiner 122 combines the first images with each other according to the calculated time coherence information to generate a second image.

The motion calculator 130 calculates a motion change amount of the object based on the generated second images. The motion calculator 130 may include a reference point extractor 131 and a motion change calculator 132 as shown in FIG. 2B. The reference point extractor 131 extracts a predetermined reference point from each second image. Reference points include center points and singular points. The motion change calculator 132 calculates a three-dimensional position change amount of the reference point, a velocity component of the object, and a spin component of the object based on the extracted reference points. For example, the motion change amount calculator 132 may use the center point as a reference point when calculating the velocity component of the object, and may use the singular point as the reference point when calculating the spin component of the object.

When calculating the three-dimensional position change amount of the reference point by the movement change amount, the motion change amount calculation unit 132 performs the curvature change amount calculation unit 141, the depth change amount calculation unit 142, and the first as shown in FIG. The position change amount calculator 143 and the second position change amount calculator 144 may be included. The curvature variation calculator 141 calculates a curvature variation amount of a boundary line (eg, an outer arc) associated with the object for each second image. The depth change calculator 142 calculates a depth change amount of the reference point based on the curvature change amount for each second image. The first position change amount calculator 143 calculates a two-dimensional position change amount of the reference point from the second images. The second position change amount calculator 144 calculates a three-dimensional position change amount of the reference point based on the depth change amount and the two-dimensional position change amount.

When calculating the velocity component of the object with the motion variation, the motion variation calculator 132 includes the third position variation calculator 145, the time variation calculator 146 and the velocity component as shown in FIG. The calculator 147 may be included. The third position change calculator 145 calculates a position change amount between the second images by obtaining a position component (eg, a 3D position vector) with respect to the reference point in each second image. The time variation calculator 146 calculates a time variation between the second images based on the position component obtained for each second image. The velocity component calculator 147 calculates a velocity component of the object based on the position change amount and the time change amount.

When calculating the spin component of the object using the motion change amount, the reference point extractor 131 extracts a singular point having different coordinate values from each second image as a reference point, and the motion change amount calculator 132 is illustrated in FIG. As described above, the object coordinate system calculator 148 and the spin component calculator 149 may be included. The object coordinate system calculator 148 calculates a 3D object coordinate system for the second images using the extracted singular points. The spin component calculator 149 calculates a spin component of the object based on the 3D object coordinate system.

The motion variation calculator 132 may calculate the spin component of the object by using the motion blur feature of each second image. In addition, the motion variation calculator 132 may model the 3D motion of the object based on the second images, and calculate the spin component of the object based on the three-dimensional shape of the object constructed by the modeling.

The power supply unit 150 supplies power to each unit constituting the object motion calculating apparatus 100.

The main control unit 160 performs a function of controlling the overall operation of each unit constituting the object motion calculating apparatus 100.

Next, the object motion calculation apparatus 100 will be described with reference to one embodiment. The present invention relates to a speed and / or spin measurement (or recognition) device and / or method of a rotating body which drives only one or a plurality of lines of the camera and has the same effect as a high speed camera. The present invention captures a plurality of line scan images by driving only one or a plurality of lines of the camera, generates a composite image by combining a plurality of line scan images captured for each line, and curvature of the arc of the generated composite image. The coordinate change is calculated based on the calculation, and the speed and / or spin of the rotating body is calculated based on the calculated coordinate change.

4 is a block diagram illustrating a configuration of an apparatus 400 for measuring speed and / or spin of a rotating body according to an exemplary embodiment. According to FIG. 4, the speed and / or spin measurement apparatus 400 of the rotating body includes a camera 410 and a controller 420.

The apparatus 400 aims to recognize a three-dimensional velocity vector and a three-dimensional spin vector of a rotating body, and captures a high-speed line scan image that scans only a few lines from an existing camera apparatus using only a line scan. Suggest a device. The apparatus 400 can obtain the effect of accurately recognizing the three-dimensional speed and spin of the rotating body when the rotor is launched.

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

The camera 410 captures (photographs) a line scan image of an arbitrary rotating body under the control of the controller 420. That is, as shown in FIG. 5, instead of capturing an area image composed of the entire 640 lines by 30 frames per second, the camera 410 having a 480 × 640 type is previously set among 640 lines by the control of the controller 420. Capture only as many lines as one line or two lines, for example. Thus, for example, when the camera 410 captures one line, the camera 410 may capture the line scan image by 640 × 30 = 19200 frames per second. Also, as another example, when the camera 410 captures two lines (eg, line A and line B), the camera 410 may capture line scan images at 320 × 30 = 9600 frames per second.

6 shows eight line images for each line captured by two preset line scan cameras 410, according to one embodiment. For example, if the speed of the rotating body is 180km per hour, that is, 50m per second and the diameter of the rotating body is 0.05m, the time taken for the rotating body to move the diameter distance of the rotating body itself is (0.05m) / (50m / sec ) = 0.001 sec. Thus, the two line scan cameras 410 capture 9600 line images per second, so each line captures the rotating body 9600 x 0.001 = 9.6 times. In addition, if the rotating body is smaller, the camera 410 may capture the rotating body about eight times, which may be an embodiment as shown in FIG. 6. Also, if the rotating body is slower, the camera 410 may capture a larger number of line images.

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

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

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

The controller 420 controls the speed of the rotating body and / or the overall operation of the spin measuring device 400.

The controller 420 combines the plurality of line scan images captured by the camera 410 for each of at least one predetermined line to generate a composite image for each line. That is, the control unit 420 calculates time coherence information on the line scan images of a plurality of continuous rotating bodies to be combined, and combines the plurality of line scan images based on the calculated time coherence information. Create In this case, as shown in FIG. 7, the control unit 420 combines the eight line scan images obtained for each of the two lines in FIG. 6 to generate a composite image for each of the two lines, thereby generating the initial trajectory of the rotating body. Restore the rotation. Here, FIG. 7A illustrates a composite image combining a plurality of line scan images scanned (captured) from line A of FIG. 6, and FIG. 7B illustrates a plurality of scanned images from line B of FIG. 6. Represents a composite image that combines linescan images. In this line scan image constituting the composite image, the curvature of some outer arcs of the rotating body (for example, a spherical shape) may be constant or change. That is, when the curvature of the rotating body is constant, the depth is constant with respect to the camera 410, and when the curvature of the rotating body is changing, the depth is changing with respect to the camera 410. Therefore, the change in depth can be known based on the change in curvature, and the change in three-dimensional coordinate can be confirmed by combining the change in depth and the change in two-dimensional coordinate.

For example, when the actual radius of the rotor is a, the distance between the rotor and the camera 410 is z0 and the radius of the arc of the captured line scan image is r0, the radius of the arc of the first and last line scan image is ri, respectively. In the case of and rf, the control unit 120 may calculate the lengths zi and zf of the first and last line scan captured rotary bodies by the following equation.

In addition, when the coordinate of the center point of the composite image is (x, y), the controller 420 may calculate the three-dimensional coordinates (x, y, t) of the rotating body by the following equation.

The controller 420 calculates a three-dimensional velocity vector and / or a three-dimensional spin vector of the rotating body based on the generated composite image. That is, the controller 420 calculates the three-dimensional velocity of the rotating body by using the center point extraction and tracking method for the generated composite image. In addition, the controller 420 calculates a three-dimensional spin of the rotating body by using a feature point extraction and tracking method for the generated composite image. At this time, the control unit 420 calculates a three-dimensional object coordinate system (Material Frame) using three or more feature points (or singular points) in the composite image, and using the three or more three-dimensional object coordinate system information calculated The dimensional spin can be calculated. In addition, the controller 420 calculates a change in curvature of the outer shell arc of the rotating body of the line scan image constituting the composite image, calculates a change in depth of the center point and singular points, and combines the calculated change in depth with the two-dimensional coordinate change, respectively. It is also possible to calculate the three-dimensional velocity and spin of the rotor.

In addition, the controller 420 provides the calculated three-dimensional speed and / or spin of the rotating body to any terminal. The terminal may provide a realistic physics simulation of a motion trajectory such as flight motion or ground motion of the rotating body by using the three-dimensional velocity and / or spin of the rotating body as an initial value. You can also provide content.

The speed and spin measurement apparatus 400 of the rotating body may further include a storage unit (not shown) that stores data and programs required for operating the speed and / or spin measurement apparatus 400 of the rotating body. At this time, the storage unit algorithm for extracting and tracking the center point for any image used to calculate the velocity vector of the rotating body, algorithm for extracting and tracking the feature point for any image used for calculating the spin vector of the rotating body, etc. Save it.

The storage unit may include a flash memory type, a hard disk type, a multimedia card micro type, a card type memory (eg, SD or XD memory), a magnetic Memory, Magnetic Disk, Optical Disk, Random Access Memory (RAM), Static Random Access Memory (SRAM), Read-Only Memory (ROM), Programmable Read-Only Memory (PROM), Electrically Erasable Programmable Read- Only memory) may include at least one storage medium.

The speed and / or spin measurement apparatus 400 of the rotating body may further include a display unit (not shown) which displays an image (image) captured by the camera 410 under the control of the controller 420. In this case, the display unit includes a liquid crystal display (LCD), a thin film transistor liquid crystal display (TFT LCD), an organic light-emitting diode (OLED), and a flexible display. It may include at least one of a field emission display (FED), a 3D display.

In addition, the display may have two or more displays according to the speed of the rotating body and / or the implementation form of the spin measuring apparatus 400. For example, the plurality of displays may be spaced apart or integrally disposed on one surface (same surface) or may be disposed on different surfaces, respectively, in the speed and / or spin measurement apparatus 400 of the rotating body.

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

The speed and / or spin measurement apparatus 400 of the rotating body may further include a communication unit (or a wireless communication module) performing a wired / wireless communication function with any external terminal. In this case, the communication unit may include a module for wireless Internet access or a module for short range communication. Here, wireless Internet technologies include wireless LAN (WLAN), WiBro, Wi-Fi, WiMAX (World Interoperability for Microwave Access: Wimax), HSDPA (High Speed Downlink Packet Access). ), And also, short-range communication technologies may include Bluetooth, ZigBee, Ultra Wideband (UWB), Radio Frequency Identification (RFID), Infrared Data Association (IrDA), and the like. have. In addition, the wired communication technology may include USB (Universal Serial Bus) communication.

As such, the speed and / or spin measurement apparatus 400 of the rotating body drives at least one line in the camera to capture a plurality of line scan images for each line, and combines the captured plurality of line scan images to each line. A composite image is generated each time, and the speed and / or spin of the rotating body is calculated based on the generated composite image.

Next, a method of measuring the speed and / or spin of the rotating body according to an embodiment. Hereinafter, a description will be given with reference to FIGS. 4 to 7.

First, the camera 410 may include a plurality of line scan images (or a plurality of continuous rotational motions) for any moving (moving) rotating body with respect to at least one preset line (one or a plurality of lines). Image). Here, any moving rotating body may be a rotating body hit, thrown, kicked or rolled by any user with or without using a tool (golf club, bat, etc.).

For example, as illustrated in FIG. 5, the camera 410 captures a plurality of continuous line scan images for each line for two preset lines (line A and line B).

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

For example, as illustrated in FIGS. 6 and 7, the controller 420 combines line scan images of eight consecutive rotating bodies obtained for each of two lines (line A and line B), respectively. Create a composite image for.

The controller 420 calculates a three-dimensional velocity vector of the rotating body based on the generated composite image. That is, the controller 420 obtains a three-dimensional position vector of the center point of the rotating body of the generated composite image and tracks the change over time. The controller 420 obtains a three-dimensional velocity vector of the rotating body from a time difference and a difference between the three-dimensional position vector of the center point of the rotating body.

For example, when the coordinates of the center points of the first and second composite images are (x1, y1, z1) and (x2, y2, z2) and the time difference is dt, the three-dimensional velocity vector of the rotating body is You can get it by

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

The controller 420 calculates a three-dimensional spin vector of the rotating body based on the generated composite image. That is, the controller 420 obtains three-dimensional position vectors of the feature points of the rotating body of the generated composite image and tracks the change over time. The controller 420 obtains the three-dimensional spin vector of the rotating body from the time difference and the three-dimensional position vector of the feature points of the rotating body. In this case, the control unit 420 obtains a spin based on a motion blur feature on the image generated by the continuous motion during the exposure time from the rotating single scanline image, and directly uses the 3D motion model based feature. A three-dimensional spin vector of the feature-based rotating body can be obtained using a method of obtaining a spin.

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

The controller 420 may have a constant or change in curvature of some outer arcs of the rotating body in the line scan image of the continuous rotating body constituting the composite image. Depth can be checked based on the curvature change using a characteristic that is a case where the depth changes, and the 3D coordinate change can be confirmed by combining the checked depth change and the 2D coordinate change.

That is, when calculating the three-dimensional velocity vector or spin vector of the rotating body, the controller 420 calculates a change in curvature of the outer shell arc of the rotating body of the line scan image constituting the composite image, and changes the depth of the center point and the feature point of the rotating body. And calculate the three-dimensional velocity vector and spin vector of the rotor by combining the calculated depth change and two-dimensional coordinate change, respectively.

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

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

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

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

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

When calculating the velocity component of the object with the motion change amount, the motion change amount calculation step may include a third position change amount calculation step, a time change amount calculation step, and a speed component calculation step. In the third position change amount calculating step, a position component of a reference point in each second image is obtained to calculate a position change amount between the second images. In the time variation calculation step, a time variation amount between the second images is calculated based on the position component obtained for each second image. In the velocity component calculation step, the velocity component of the object is calculated based on the position change amount and the time change amount.

When calculating the spin component of the object by the motion change amount, the reference point extraction step extracts a singular point having different coordinate values from each second image as a reference point, and the motion change amount calculation step may include an object coordinate system calculation step and a spin component calculation step. . In the object coordinate system calculation step, the 3D object coordinate system for the second images is calculated using the extracted singular points. In the spin component calculation step, the spin component of the object is calculated based on the three-dimensional object coordinate system.

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

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

Using the above-mentioned three-dimensional velocity and spin of the rotor as an initial value, it provides realistic physics simulation of motion trajectories such as flight or ground motion of the rotor, and can provide realistic simulation-based games or training contents. Do. Since the speed and spin recognition method of FIG. 9 is based on the low cost camera device of FIG. 5, it can be expected to be useful for developing a low cost realistic game or training system. However, realistic physics simulation methods and game or training content production are not addressed specifically in the present invention beyond the scope of the claims.

Meanwhile, in the detailed description of the present invention, specific embodiments have been described, but various modifications are possible without departing from the scope of the present invention. Therefore, the scope of the present invention should not be limited to the described embodiments, but should be defined not only by the scope of the following claims, but also by those equivalent to the scope of the claims.

The present invention relates to an apparatus and method for capturing a linescan image and then measuring the speed of the rotating body and recognizing the spin based on the linescan image. This can be applied to the reflected arcade game field or sports game field.

100: object motion calculation device 110: image acquisition unit
120: image generating unit 121: time coherence information calculation unit
122: image combiner 130: motion calculator
131: reference point extraction unit 132: motion variation calculation unit
141: curvature change amount calculation unit 142: depth change amount calculation unit
143: first position change amount calculation unit 144: second position change amount calculation unit
145: third position change amount calculation unit 146: time change amount calculation unit
147: velocity component calculation unit 148: object coordinate system calculation unit
149: spin component calculation unit 410: camera
420: control unit

Claims (14)

An image obtaining unit which lines-scans at least two sides of the rotating object to obtain a first image for each side;
An image generator for generating a second image including the object by combining the first images acquired in the same time zone; And
A motion calculator configured to calculate a motion change amount of the object based on the generated second images
Apparatus for calculating the motion of an object comprising a. The method of claim 1,
The image generator,
A time coherence information calculation unit for calculating time coherence information for each first image; And
An image combiner for generating the second image by combining the first images with each other according to the calculated time coherence information.
Apparatus for calculating the motion of an object comprising a. The method of claim 1,
The motion calculation unit,
A reference point extracting unit which extracts a predetermined reference point from each second image; And
A motion change calculator for calculating a three-dimensional position change of the reference point, a velocity component of the object, and a spin component of the object based on the extracted reference points.
Apparatus for calculating the motion of an object comprising a. The method of claim 3, wherein
The change amount calculation unit,
A curvature change amount calculator configured to calculate a curvature change amount of a boundary line associated with the object for each second image;
A depth change calculator configured to calculate a depth change amount of the reference point based on the curvature change amount for each second image;
A first position change amount calculator for calculating a two-dimensional position change amount of the reference point from the second images; And
A second position change amount calculator for calculating a three-dimensional position change amount of the reference point as the movement change amount based on the depth change amount and the two-dimensional position change amount;
Apparatus for calculating the motion of an object comprising a. The method of claim 3, wherein
The change amount calculation unit,
A third position change amount calculating unit which calculates a position change amount between the second images by obtaining a position component of the reference point in each second image;
A time variation calculator for calculating a time variation between the second images based on a position component obtained for each second image; And
Velocity component calculating unit that calculates a velocity component of the object based on the position change amount and the time change amount.
Apparatus for calculating the motion of an object comprising a. The method of claim 3, wherein
The reference point extracting unit extracts a singular point having a different coordinate value from each second image as the reference point,
The change amount calculation unit,
An entity coordinate system calculator configured to calculate a 3D entity coordinate system for the second images using the extracted singularities; And
A spin component calculator configured to calculate a spin component of the object based on the three-dimensional object coordinate system;
Apparatus for calculating the motion of an object comprising a. The method of claim 1,
And the image obtaining unit lines scan one side of the object including a boundary line associated with the object. An image acquisition step of line scanning at least two sides of the rotating object to obtain a first image for each side;
An image generation step of generating a second image including the object by combining the first images acquired in the same time zone; And
A motion calculation step of calculating a motion change amount of the object based on the generated second images
Object movement calculation method comprising a. The method of claim 8,
The image generation step,
A time coherence information calculation step of calculating time coherence information for each first image; And
The image combining step of generating the second image by combining the first images with each other according to the calculated time coherence information
Object movement calculation method comprising a. The method of claim 8,
The motion calculation step,
A reference point extracting step of extracting a predetermined reference point from each second image; And
A motion change amount calculating step of calculating a three-dimensional position change amount of the reference point, a velocity component of the object, and a spin component of the object based on the extracted reference points;
Object movement calculation method comprising a. The method of claim 10,
The movement variation calculation step,
A curvature variation calculation step of calculating a curvature variation amount of a boundary line associated with the object for each second image;
A depth change calculation step of calculating a depth change amount of the reference point based on the curvature change amount for each second image;
A first position change amount calculating step of calculating a two-dimensional position change amount of the reference point from the second images; And
A second position change amount calculating step of calculating a three-dimensional position change amount of the reference point as the movement change amount based on the depth change amount and the two-dimensional position change amount
Object movement calculation method comprising a. The method of claim 10,
The movement variation calculation step,
A third position change amount calculating step of calculating a position change amount between the second images by obtaining a position component with respect to the reference point in each second image;
A time variation amount calculating step of calculating a time variation amount between the second images based on the position component obtained for each second image; And
A velocity component calculating step of calculating a velocity component of the object based on the position change amount and the time change amount;
Object movement calculation method comprising a. The method of claim 10,
The reference point extracting step extracts a singular point having a different coordinate value from each second image as the reference point.
The movement variation calculation step,
An entity coordinate system calculation step of calculating a three-dimensional entity coordinate system for the second images using the extracted singular points; And
A spin component calculation step of calculating a spin component of the object based on the three-dimensional object coordinate system;
Object movement calculation method comprising a. The method of claim 8,
The image acquiring step includes line scans one side of the object including a boundary line associated with the object.

Images