KR20150116323A - System and Method for analyzing putting motion using Depth Information - Google Patents

Abstract

The present invention relates to a system and method for analyzing a putting motion using depth information which can realize a virtual putting game by installing a depth capture module close to a mat touch sensor area and using gained depth information. The system comprises: a depth camera module for gaining a depth image for an area where the putting motion is carried out; a background depth image calculation portion for extracting a background depth part from the depth image; a mat touch determination portion for detecting an object in the depth image for the area where the putting motion is carried out, and extracting a pointer from the detected object; a spatial coordinate calculation portion for calculating a spatial coordinate based on a depth value of a location of the pointer extracted from the mat touch determination portion; and an object trajectory analyzing portion for calculating a location where a location of a ball in a certain point and a location where the ball is finally arrived, and analyzing a putting swing from a three-dimensional coordinate where a putter head moves and from a three-dimensional coordinate where a golf ball moves.

Description

TECHNICAL FIELD [0001] The present invention relates to a putting analysis system and method using depth information,

More particularly, the present invention relates to a putting analysis system and method using depth information that enables a virtual putting game to be implemented using depth information obtained by installing a depth photographing module adjacent to a mat touch sensor area .

The percentage of putting strokes in the overall batting range of the golf game is very important, ranging from 40 to 50%, and most of the four swing types of golf are the most difficult strokes.

For this reason, many researches have been conducted on kinematic, kinetic, and psychological methods for successful putting strokes, and various measurement systems have been developed and used to support this.

Infrared 3D motion analysis camera and high speed video camera using optical method as a typical measurement system are based on kinematics research. Sensor - based electronic devices such as ground reaction force system and inertial measurement system have been used for kinematic and kinematic studies.

In addition, a mechanical method, putting machine, was used to analyze kinematic energy and to verify the performance of the developed putter.

These instruments are mainly used for studying the subjects' motion control and operation performance, but the position of the ball as a result of the putting stroke is mainly divided into success and failure.

In addition, there is a method of constructing a rectangular coordinate system by using a thin thread on an artificial putting mat and determining the position of the ball. However, since the reproducibility is difficult and the positioning of the ball is manual, There is an affected problem.

In recent years, many screen golf courses that can enjoy golf indoors have been opened and used by golfers.

There are many products on the screen golf course that can enjoy golf using the latest electronic technology.

Also, the screen golf course is used for various purposes such as swing correction, golf tournament, and intensive training for actual outdoor rounding, rather than simply playing a golf game.

Therefore, as the number of screen golf courses is rapidly increased and the number of users is increasing, the competition among domestic screen golf simulator companies is also intensifying.

The screen golf simulator, which requires a lot of development in the future, is still developing due to factors such as realizing the actual field feel, convenient operation, and increasing price competitiveness.

However, screen golf is currently being designed and developed based on full swing, but short game and putting have a problem that the reality is poor or the pitch prediction is not accurate.

Therefore, when considering the function of the golf simulator as a more sophisticated training and preparation process, it is required to realize the putting function realistically.

Korean Patent Publication No. 10-2011-0043148 Korean Published Patent No. 10-2012-0010016

In order to solve the problems of the related art putting analysis and implementation system, the present invention provides a depth-of-field image sensing system in which a depth photographing module is installed adjacent to a mat- And to provide a putting analysis system and method using information.

In the present invention, the depth information is used to determine from the movement trajectory of the head whether the head passes from the outside to the inside, from the inside to the outside, and determines the putting direction and angle, The present invention is directed to a putting analysis system and method using depth information for determining a distance between a ball and a ball.

An object of the present invention is to provide a putting analysis system and method using depth information that allows a user to set a speed, an inclination, etc. of a putting grass so as to inform the direction, angle, distance, .

In view of the camera view, the video playing a putting swing is played in various speed modes, all the screens are combined and displayed in a superimposed mode, and a video in which a golf ball rolls or swings in a putting swing direction is reproduced in various speed modes And to provide a putting analysis system and method using the depth information.

The objects of the present invention are not limited to the above-mentioned objects, and other objects not mentioned can be clearly understood by those skilled in the art from the following description.

According to another aspect of the present invention, there is provided a putting analysis system using depth information, the depth analyzing system comprising: a depth camera module for obtaining a depth image of a region where a putting is performed; a background depth image calculating unit for extracting a background depth portion from the depth image; A matte touch determination unit for detecting an object in a depth image of an area where the putting is performed and extracting a pointer from the detected object, a space coordinate calculation unit for calculating spatial coordinates based on the depth value of the pointer position extracted by the matte touch determination unit, And an object trajectory analysis unit for calculating a position of the ball at a specific time point and a position at which the ball finally arrives and analyzing the putting swing from the three-dimensional coordinates of the moving of the putter head and the three- .

In order to extract a putter head area during putting operation, the space coordinate calculator may label the ball and club head, look at the shape of the labeled head, find the center point of the club head, and move the center point of the club head And then keeps track.

The spatial coordinate calculation unit may accumulate a screen corresponding to a specific number to obtain an image and calculate spatial coordinates using an intermediate value or a most-negative value in addition to the average value in the accumulated image.

And when the position or distance of the area where the depth camera module and the putting is performed is changed, the background depth image calculation unit again executes the process of extracting the background depth part from the depth image again.

The space coordinate calculation unit detects the distance between the velocity and direction of the horizontal direction of the pointer, the velocity and direction of the vertical direction, and the area where the depth camera module and the putting are performed based on the frame rate of the screen, And the speed is detected.

In order to accomplish the other object, a method for analyzing a putting using depth information according to the present invention acquires a background image through a depth camera module, acquires a depth image from a point where the ball is positioned behind the ball, Extracting a ball and putter head region having different values through comparison with a depth value in a background image on each screen of a depth video, detecting a center point of the club head by looking at the shape of the labeled head, Vertical, and depth values of the golf ball of the pointer are obtained for each screen, and when two objects labeled as the head are collided with each other collide with each other, Tracking the movement of the ball and storing the center point, the position of the ball at a specific point and the position at which the ball finally arrives Calculating; characterized in that it comprises a; analyzing the putting swing from the three-dimensional coordinate and the three-dimensional coordinates of the golf ball to move the putter head movement.

(α=그린스피드 계수)를 이용하여 보정하고, α>1(현재 퍼팅장소가 적용할 그린스피드보다 느린 경우)이고, α<1(현재 퍼팅장소가 적용할 그린스피드보다 빠른 경우)인 것을 특징으로 한다.Here, in the step of tracking the movement of the ball and storing the center point, the initial velocity of the ball is stored by continuously storing the center point of the ball, and the actually measured distance S and the corrected calculated value Sγ

(when the putting position is slower than the green speed to be applied) and α &lt; 1 (when the putting position is faster than the green speed to be applied) .

을 이용하여 특정 시점에서의 공의 위치와 최종적으로 공이 도착하는 위치를 계산하는 것을 특징으로 한다.Then, the initial velocity is corrected by applying the green speed, v ₀ , the time after putting the ball is t, and the acceleration considering the friction coefficient in the green is a,

The position of the ball at a specific time point and the position at which the ball finally arrives are calculated.

In the step of analyzing the putting swing, if the user sets the speed and inclination of the putting grass, the direction, angle and distance of the putting ball are displayed on the screen according to the setting environment. A plurality of speed modes in which a plurality of different speed modes are combined or all the screens are displayed in an overlapping mode, or a moving image in which a golf ball rolls or swings in the direction of a view that the golfer rolls or swings.

The system and method for putting analysis using depth information according to the present invention have the following effects.

First, a virtual putting game can be implemented using depth information obtained by installing a depth photographing module adjacent to a mat touch sensor area.

Second, from the movement trajectory of the head, the depth information is used to judge whether the head passes from the outside to the inside or from the inside to the outside of the head, from the position where the putting direction and angle, It is possible to determine a distance between the ball and the ball so that a detailed putting analysis and a virtual putting situation can be realized.

Third, if the user sets the speed and the inclination of the putting grass, the user can inform the direction, angle and distance of the putter according to the setting environment, thereby improving the convenience of the user.

Fourth, from the viewpoint of the camera view, putting swing video can be played in various speed modes, all screens can be combined and displayed in overlapped mode, and moving swing video can be played in various speed modes from the point of view in which the golf ball moves. It can increase utilization.

1 is a block diagram of a putting analysis system using depth information according to the present invention;
2 is a flowchart illustrating a putting analysis method using depth information according to the present invention.
Fig. 3 shows a golf mat and depth camera image configuration diagram
4 is a block diagram showing an operation state at the time of putting operation
5 is a diagram showing a process of extracting a putter head region at the time of putting operation
6 is a block diagram illustrating a method of tracking a motion of a golf ball and storing a center point
FIGS. 7A and 7B are graphs showing a method of calculating a ball position and a final arrival position at a specific point in time

Hereinafter, a preferred embodiment of a putting analysis system and method using depth information according to the present invention will be described in detail as follows.

The features and advantages of the putting analysis system and method using depth information according to the present invention will be apparent from the following detailed description of each embodiment.

FIG. 1 is a block diagram of a putting analysis system using depth information according to the present invention, and FIG. 2 is a flowchart illustrating a putting analysis method using depth information according to the present invention.

In the present invention, the depth information is used to determine from the movement trajectory of the head whether the head passes from the outside to the inside, from the inside to the outside, and determines the putting direction and angle, To determine the distance the ball has rolled.

As shown in FIG. 1, the putting analysis system using the depth information according to the present invention includes a depth camera module 10 for obtaining a depth image for a matte touch sensor area, a background depth image A matte touch determination unit 12 for detecting an object in a depth image of the matte touch sensor area and extracting a pointer from the detected object, A space coordinate calculation unit 13 for calculating the spatial coordinates based on the depth value of the position, a position calculation unit 13 for calculating the position of the ball at the specific time point and finally the ball arrives, And an object trajectory analysis unit 14 for analyzing the putting swing from the moving three-dimensional coordinates.

The putting analysis process using the putting analysis system using the depth information according to the present invention is as follows.

As shown in FIG. 2, a background image is acquired by the depth camera module 10 (S201), and a depth image from the time of putting the putter to the end of putting is obtained (S202)

Then, the ball and putter head region having different values are extracted through comparison with the depth values in the background image in each screen of the depth video (S203)

Next, the center point of the club head is detected by looking at the shape of the labeled head (S204), and the center point of the detected club head is continuously tracked as the club moves (S205)

Then, the horizontal, vertical, and depth values of the golf ball of the pointer are acquired at every screen (S206). When the two objects labeled by the head collide with each other, the center point is stored by tracking the movement of the ball. S207)

Next, the position of the ball at a specific time point and the position at which the ball finally arrives are calculated (S208)

Then, the putting swing is analyzed from the three-dimensional coordinate where the putter head moves and the three-dimensional coordinate where the golf ball moves (S209).

The putting analysis system and method using depth information according to the present invention will be described in more detail as follows.

FIG. 3 is a view showing the configuration of an image of a golf mat and a depth camera, and FIG. 4 is a configuration diagram showing an operation state in a putting operation.

5 is a block diagram illustrating a putter head region extraction process during a putting operation.

The putting analysis system using depth information according to the present invention installs a depth camera where a part or all of the golf mat can be photographed.

Then, as shown in FIG. 3, the background image is obtained by the depth camera in the state that no object except the mat is placed on the image displayed on the camera.

Next, put the ball and obtain the depth image from the time when the putter is positioned behind the ball to the time when the putting is finished.

As shown in FIG. 4, a ball and a putter head region having different values are extracted through comparison with a depth value in a background image on each screen of a depth motion picture.

If the position of the ball is 1 and the portion of the background image including the ball is changed to 2, the process of extracting the putter head region during the putting operation can be expressed as shown in FIG.

Thus, labeling the ball and club head allows you to look at the shape of the labeled head and find the center point of the club head.

We keep track of the center point of the club head that we find as the club moves.

In addition, a screen corresponding to a specific number can be accumulated to obtain a stable image. In the case of accumulation, an intermediate value or a minimum value other than the average value may be used.

Also, when the position or distance between the photographing module and the touch sensor area is changed, the background depth image calculation unit again executes the process of extracting the background depth part from the depth image again.

The process of storing the center point by tracking the movement of the golf ball and calculating the ball position and final position at a specific point are as follows.

FIG. 6 is a diagram illustrating a method of tracking a movement of a golf ball to store a center point, and FIGS. 7A and 7B are graphs illustrating a method of calculating a ball position and a final arrival position at a specific point in time.

It is also possible to set the nearest point or the farthest point of the ball in the batting direction in addition to the center point.

The horizontal, vertical, and depth values of the golf ball of the pointer can be obtained for each screen. That is, the velocity and direction of the pointer in the horizontal direction, the velocity and direction in the vertical direction, and the distance from the photographing module or the touch sensor area can be known based on the frame rate of the screen.

One of the methods for detecting the moving direction and speed of the golf ball is to continuously detect the moving direction, moving speed, and moving distance of the golf ball by continuously comparing the previous frame and the current frame of the depth image obtained from the depth imaging module Can be used.

As shown in FIG. 6, if the head is hit and collided, two labeled objects collide with each other. From this point, we track the movement of the ball and store the center point.

If you continue to save the center point of the ball, you can know the initial velocity of the ball. Since the frictional force between the golf course and the putting place may be different, the actual measured distance S and the corrected calculated value Sγ can be corrected using the following equation.

α> 1 (if the current putting position is slower than the applied green speed), and α <1 (if the current putting position is faster than the applied green speed).

If the initial velocity is corrected by applying the green speed, and v is ₀ , the last time after putting the ball is t, and the acceleration considering the friction coefficient in the green is a, the ball position at time t ,

Using Equation (2), the position of the hole at a specific time point and the position at which the ball finally arrives can be calculated.

As shown in FIGS. 7A and 7B, the direction angle? Can be obtained from the center to the right or left based on the obtained distance S of the hole and the K value measured every frame.

Finally, it tells the distance S between the ball and the direction angle θ, and the distance K to the right or left with respect to the center line.

You can implement putting if distance and direction come out like this.

The putting swing is analyzed from the three-dimensional coordinate of the moving of the putter head and the three-dimensional coordinate of the moving golf ball.

From the movement trajectory of the head, it is judged whether the head passes from the outside to the inside or the inside from the outside, and the putting direction and the angle are indicated. It tells the distance of the ball from the position of the ball and the speed of the head.

If the user sets the speed and inclination of the putting grass, it can inform the direction, angle and distance of the putting ball according to the setting environment.

And from the camera view point of view, you can play the putting swing video in various speed modes. In addition, all screens can be combined and displayed in overlapping mode.

From a point of view of a golf ball rolling or rolling, you can play a putting swing video in various speed modes.

The putting analysis system and method using depth information according to the present invention can implement a virtual putting game by using depth information obtained by installing a depth photographing module adjacent to a mat touch sensor area, And judges whether the head passes from the outside to the inside or from the inside to the outside from the movement trajectory of the head and judges whether or not the ball is rolled from the position where the putting direction and angle, So that the putting motion can be analyzed.

As described above, it will be understood that the present invention is implemented in a modified form without departing from the essential characteristics of the present invention.

It is therefore to be understood that the specified embodiments are to be considered in an illustrative rather than a restrictive sense and that the scope of the invention is indicated by the appended claims rather than by the foregoing description and that all such differences falling within the scope of equivalents are intended to be embraced therein It should be interpreted.

10. Depth camera 11. Background depth image calculation unit
12. Matte touch determination unit 13. Space coordinate calculation unit
14. Object trajectory analysis section

Claims (9)

A depth camera module for obtaining a depth image of the area where the putting is made;
A background depth image calculation unit for extracting a background depth part from the depth image;
A matte touch determination unit for detecting an object in a depth image of an area where the putting is performed and extracting a pointer from the detected object;
A space coordinate calculation unit for calculating spatial coordinates based on a depth value of a pointer position extracted by the matte touch determination unit;
And an object trajectory analyzing unit for calculating a position of the ball at a specific time point and a position at which the ball finally arrives and analyzing the putting swing from the three-dimensional coordinates of the moving of the putter head and the three- Putting Analysis System Using Depth Information. The apparatus according to claim 1,
The ball and the club head are labeled, the shape of the labeled head is found, and the center point of the club head is found by searching for the center point of the club head for the purpose of extracting the putter head area during the putting operation. Putting analysis system using depth information. The apparatus according to claim 1,
Wherein the spatial coordinates are calculated using an intermediate value or a least mean value, in addition to the average value in the accumulated image, to accumulate a screen corresponding to a specific number in order to obtain an image. 2. The method according to claim 1, wherein when the position or distance of the area where the puttering is performed is changed, the background depth image calculation unit again executes the process of extracting the background depth part from the depth image again. Putting analysis system. The apparatus according to claim 1,
A moving direction and a velocity of the golf ball are detected by detecting a distance between the depth and the camera module in the horizontal direction and the speed and direction of the pointer in the vertical direction based on the frame rate of the screen, Putting Analysis System Using Depth Information. Acquiring a background image through a depth camera module, acquiring a depth image from a time when the putter is positioned behind the ball to a time when the putting is finished, and the ball is placed;
Extracting a ball and a putter head region having different values through comparison with a depth value in a background image on each screen of the depth video;
Detecting the center point of the club head by looking at the shape of the labeled head, and keeping track of the center point of the detected club head as the club moves;
Acquiring horizontal, vertical, and depth values of a golf ball of the pointer at every screen, and tracking the ball movement and storing a center point when two objects labeled as colliding with each other collide with each other;
Calculating a position of the ball at a specific time point and a position at which the ball finally arrives;
And analyzing the putting swing based on the three-dimensional coordinates of the moving of the putter head and the three-dimensional coordinates of the moving golf ball. 7. The method of claim 6, wherein in tracking the motion of the ball and storing the center point,
The initial velocity of the ball is obtained by continuously storing the center point of the ball, and the actual measured distance (S) and corrected value (Sγ)

(? = green speed coefficient)
1 &lt; / RTI &gt; (when the current putting position is faster than the green speed to be applied), and &lt; alpha 1 &gt; 8. The method of claim 7, wherein when the initial velocity is corrected by applying the green speed, v ₀ , the time after putting the ball is t, and the acceleration in consideration of the friction coefficient in the green is a, The position of the ball in

(

= Initial velocity, a = acceleration, t = time) is used to calculate the position of the ball at a specific time point and the position at which the ball finally arrives. 7. The method of claim 6, wherein in analyzing the putting swing,
When the user sets the speed and inclination of the putting grass, the direction, angle and distance of the putting ball are displayed on the screen according to the setting environment,
The screen display can be used to play a putting-swinging video in different speed modes from the viewpoint of the camera view, to display all the screens together in overlapping mode,
A method for putting analysis using depth information, characterized in that a moving image of a putting swing is reproduced in a plurality of different speed modes from the point of view of a direction in which a golf ball rolls or rolls.

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