KR20210126353A - Golf simulation appratus and golf simulation method - Google Patents

Abstract

According to an embodiment, disclosed are a golf simulation device and a method thereof. The golf simulation device includes: a first image acquisition unit disposed on the upper part of a batting table to acquire a first image by photographing a ball which is hit and moves; a second image acquisition unit disposed in front of the batting table to acquire a second image by photographing the ball; a simulator extracting a first feature point of the ball for each first image frame constituting the first image and a second feature point of the ball for each second image frame constituting the second image, converting the two-dimensional coordinate value of the mark from the extracted second feature point into a three-dimensional coordinate value to calculate spin information of the ball for each second image frame, generating a virtual image frame using the calculated spin information, comparing and verifying the generated virtual image frame and the second image frame, determining integrated spin information according to the comparison and verification result, and generating a simulation image by performing a simulation using the determined integrated spin information; and an image output unit outputting the generated simulation image to a screen.

Description

Golf simulation apparatus and method thereof

The embodiment relates to a golf simulation apparatus and method capable of measuring the spin of a moving ball.

The virtual golf system, designed to allow golfers to enjoy golf indoors, acquires an image of a moving ball when a golfer hits the ball, measures the physical quantity of the ball, and performs a simulation based on the measured physical quantity, and the simulation result is displayed on the screen.

Recently, a virtual golf system using two cameras has been widely used. In this system, physical property information such as speed, direction, and height angle of a moving ball is extracted using two cameras located on the top and side, and the motion trajectory of the golf club is calculated and the spin of the ball is estimated from it and simulated. is reflected in

The system using two cameras has the advantage of being able to check the left/right angle and the height angle using the two cameras, but it cannot measure the amount of spin and the spin axis of the ball.

For this reason, it is inevitable to reflect the ball spin information estimated from the club's motion trajectory and the physical property information of the moving ball in the simulation.

In particular, the spin of the ball is closely related to the distance, direction, and height angle, so an inaccurate spin has a very sensitive effect on the result of the ball's motion. Therefore, the simulation using the estimated ball spin has very low accuracy, so that the simulation result is unreliable.

The embodiment may provide a golf simulation apparatus and method capable of measuring the spin of a moving ball.

The golf simulation apparatus according to the embodiment includes a first image acquisition unit disposed on the top of the turn at bat to acquire a first image by photographing a ball that is hit and in motion, and a second image acquisition unit disposed in front of the turn at bat to capture the ball and capture the second image. A second image acquisition unit for acquiring an image, extracting a first feature point of the ball for each first image frame constituting the first image and a second feature point of the ball for each second image frame constituting the second image, , converts the two-dimensional coordinate value of the mark among the extracted second feature points into a three-dimensional coordinate value, calculates the spin information of the ball for each second image frame, and uses the calculated spin information to generate a virtual image frame generating a simulated image by comparing and verifying the generated virtual image frame and the second image frame, determining integrated spin information according to a result of the comparison and verification, and performing a simulation using the determined integrated spin information It may include a simulator and an image output unit for outputting the generated simulation image to a screen.

The simulator calculates the direction angle of the ball by using the center point of the ball extracted for each of a plurality of image frames constituting the first image among the extracted first feature points, and calculates the direction angle of the ball from among the extracted second feature points. The launch angle of the ball can be calculated by using the center point of the ball extracted for each of a plurality of image frames constituting the .

The simulator converts the two-dimensional coordinate value of the mark extracted for each plurality of second image frames constituting the second image among the extracted second feature points into a three-dimensional coordinate value, and the three-dimensional coordinate value of the converted mark can be used to calculate a coordinate change value between the plurality of second image frames, and spin information for each second image frame can be calculated using the coordinate change value.

The simulator generates at least one virtual image frame by applying a plurality of pieces of spin information calculated for each second image frame based on one reference image frame among a plurality of second image frames, and the generated virtual image frame is generated. Transforms the three-dimensional virtual coordinate value of the mark for each image frame of And, according to the result of the comparison and verification, the integrated spin information may be finally determined using at least one piece of spin information in which the coordinate values of the marks coincide.

The simulator calculates a plurality of spin information by using one reference image frame serving as a reference among the plurality of second image frames and each of the remaining image frames, and uses each of the calculated plurality of spin information to become the reference. Based on one image frame, a virtual image frame corresponding to the corresponding image frame may be generated.

The simulator calculates a plurality of pieces of spin information by using one image frame serving as a reference among the plurality of second image frames and each of the remaining image frames, and uses each of the calculated plurality of spin information to obtain the reference one. Based on the image frame of , a virtual image frame corresponding to the last image frame may be generated.

When the two-dimensional virtual coordinate value of the mark and the extracted two-dimensional coordinate value of the mark match or are within a threshold range, the simulator may determine that the coordinate value of the mark coincides.

The golf simulation method according to the embodiment acquires a first image by photographing a ball in motion when a first image acquisition unit disposed on the top of the turn at bat is hit, and a second image acquisition unit disposed on the front of the turn at bat captures the ball to obtain a second image, the simulator extracting the first feature point of the ball for each first image frame constituting the first image and the second feature point of the ball for each second image frame constituting the second image and converting the two-dimensional coordinate value of the mark among the extracted second feature points into a three-dimensional coordinate value to calculate the spin information of the ball for each second image frame, the simulator using the calculated spin information generating a virtual image frame, comparing and verifying the generated virtual image frame with the second image frame, and determining integrated spin information according to a result of the comparison and verification, and the simulator using the determined integrated spin information The method may include performing a simulation to generate a simulation image and outputting it to a screen.

In the calculating step, the direction angle of the ball is calculated using the center point of the ball extracted for each of a plurality of first image frames constituting the first image among the extracted first feature points, and among the extracted second feature points The launch angle of the ball may be calculated by using the center point of the ball extracted for each of the plurality of second image frames constituting the second image.

In the calculating step, the two-dimensional coordinate value of the mark extracted for each of a plurality of second image frames constituting the second image among the extracted second feature points is converted into a three-dimensional coordinate value, and the three-dimensionality of the converted mark is A coordinate change value between the plurality of second image frames may be calculated using a coordinate value, and spin information for each second image frame may be calculated using the coordinate change value.

In the determining step, at least one virtual image frame is generated by applying a plurality of spin information calculated for each image frame based on any one image frame among a plurality of second image frames, and the generated virtual image frame is generated. The two-dimensional virtual coordinate value of the mark is generated by converting the three-dimensional virtual coordinate value of the mark for each image frame into two dimensions, and the two-dimensional virtual coordinate value of the mark and the two-dimensional coordinate value of the extracted mark are compared and verified, , it is possible to finally determine the integrated spin information using at least one piece of spin information in which the coordinate values of the marks match according to the comparison and verification result.

In the determining step, a plurality of spin information is calculated using one image frame serving as a reference among the plurality of second image frames and each of the remaining image frames, and the reference is determined by using each of the calculated plurality of spin information. A virtual image frame corresponding to up to the corresponding image frame may be generated based on one image frame to be used.

In the determining step, a plurality of spin information is calculated using one image frame serving as a reference among the plurality of second image frames and each of the remaining image frames, and the reference is determined by using each of the calculated plurality of spin information. It is possible to generate a virtual image frame corresponding to the last image frame on the basis of one image frame to be used.

In the determining step, when the two-dimensional virtual coordinate value of the mark and the two-dimensional coordinate value of the extracted mark match or are within a threshold range, it may be determined that the coordinate value of the mark coincides.

The golf simulation apparatus according to the embodiment includes a first image acquisition unit disposed on the top of the turn at bat to acquire a first image by photographing a ball that is hit and in motion, and a second image acquisition unit disposed in front of the turn at bat to capture the ball and capture the second image. A second image acquisition unit for acquiring an image, extracting a first feature point of the ball for each first image frame constituting the first image and a second feature point of the ball for each second image frame constituting the second image, , converts the two-dimensional coordinate value of the mark among the extracted second feature points into a three-dimensional coordinate value to calculate the spin information of the ball for each image frame, and generates a virtual image frame using the calculated spin information and a simulator that compares and verifies the generated virtual image frame and the second image frame, determines integrated spin information according to a result of the comparison and verification, and performs a simulation using the determined integrated spin information to generate a simulation image. And, the simulator uses the Ray-Sphere Intersection method based on the already known center point and radius of the ball, among the extracted feature points, the two-dimensional coordinates of the extracted marks for each of a plurality of second image frames constituting the second image. The value is converted into a three-dimensional coordinate value, a coordinate change value between the plurality of second image frames is calculated using the three-dimensional coordinate value of the converted mark, and each second image frame using the coordinate change value Spin information is calculated, and at least one virtual image frame is generated by applying a plurality of spin information calculated for each image frame based on any one image frame among a plurality of second image frames, and the generated virtual image frame is generated. Transforms the three-dimensional virtual coordinate value of the mark for each image frame of And, according to the result of the comparison and verification, the integrated spin information may be finally determined using at least one piece of spin information in which the coordinate values of the marks coincide.

According to the embodiment, extracting a plurality of marks formed on a moving ball, converting the coordinate values of the extracted plurality of marks into three-dimensional coordinates, and calculating spin information based on the change value of the three-dimensional coordinates of the converted marks Therefore, the spin of the ball can be measured.

According to the embodiment, since the process of checking the coordinate values of the mark using the spin information calculated from each of a plurality of image frames is performed, accurate spin information can be calculated.

According to the embodiment, since spin information calculated more precisely using spin information of each of a plurality of image frames is reflected in the simulation, reliability of the simulation may be improved.

Various and advantageous advantages and effects of the present invention are not limited to the above, and will be more easily understood in the course of describing specific embodiments of the present invention.

1 is a view showing a golf simulation apparatus according to an embodiment of the present invention.
FIG. 2 is a diagram showing a detailed configuration of the simulator shown in FIG. 1 .
3 is a diagram for explaining a principle of extracting feature points in a ball image according to an embodiment.
4A to 4B are diagrams for explaining the calculation principle of the direction angle and the launch angle according to the embodiment.
5A to 5B are diagrams for explaining a change in feature points for each frame according to an embodiment.
6 is a diagram illustrating a golf simulation method according to an embodiment of the present invention.
7A to 7B are diagrams illustrating simulation screens implemented according to an embodiment.

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

However, the technical spirit of the present invention is not limited to some described embodiments, but may be implemented in various different forms, and within the scope of the technical spirit of the present invention, one or more of the components may be selected between embodiments. It can be combined and substituted for use.

In addition, terms (including technical and scientific terms) used in the embodiments of the present invention may be generally understood by those of ordinary skill in the art to which the present invention pertains, unless specifically defined and described explicitly. It may be interpreted as a meaning, and generally used terms such as terms defined in advance may be interpreted in consideration of the contextual meaning of the related art.

In addition, the terms used in the embodiments of the present invention are for describing the embodiments and are not intended to limit the present invention.

In the present specification, the singular form may also include the plural form unless otherwise specified in the phrase, and when it is described as "at least one (or one or more) of A and (and) B, C", it is combined with A, B, C It may include one or more of all possible combinations.

In addition, in describing the components of the embodiment of the present invention, terms such as first, second, A, B, (a), (b), etc. may be used.

These terms are only used to distinguish the component from other components, and are not limited to the essence, order, or order of the component by the term.

And, when it is described that a component is 'connected', 'coupled' or 'connected' to another component, the component is not only directly connected, coupled or connected to the other component, but also with the component It may also include a case of 'connected', 'coupled' or 'connected' due to another element between the other elements.

In addition, when it is described as being formed or disposed on "above (above) or under (below)" of each component, the top (above) or bottom (below) is one as well as when two components are in direct contact with each other. Also includes a case in which another component as described above is formed or disposed between two components. In addition, when expressed as "upper (upper) or lower (lower)", the meaning of not only an upper direction but also a lower direction based on one component may be included.

In an embodiment, a ball image is obtained for each image frame obtained when the ball is hit, and the coordinate value of the mark is extracted for each obtained ball image, and the coordinate value of the extracted mark is converted into three-dimensional coordinates to estimate the spin information of the ball. However, a new method for calculating spin information for each image frame is proposed.

In the embodiment, the coordinate value of the mark for each image frame is predicted by rotating based on one image frame using the estimated ball spin information, and the predicted coordinate value of the mark and the coordinate value of the extracted mark are compared and compared. As a result, spin information is determined.

1 is a view showing a golf simulation apparatus according to an embodiment of the present invention.

Referring to FIG. 1 , a golf simulation apparatus according to an embodiment of the present invention may include a first image acquisition unit 100 , a second image acquisition unit 200 , a simulator 300 , and an image output unit 400 . can

The first image acquisition unit 100 may be disposed above the user, that is, above the bat where the user is located, and may acquire a first image by photographing a ball hit by the user. Here, the first image may be used to calculate motion information such as a speed and a direction angle of the hit ball.

A camera capable of acquiring a plurality of frames may be used as the first image acquisition unit 100 .

The second image acquisition unit 200 may be disposed in front of the user, that is, in front of the bat where the user is located, and may acquire a second image by photographing a ball hit by the user. Here, the second image may be used to calculate a launch angle, a spin amount, a spin axis, a back spin, and a side spin of the hit ball.

A camera capable of acquiring a plurality of frames may be used as the second image acquisition unit 200 .

The first image acquisition unit 100 and the second image acquisition unit 200 may photograph the same object, that is, a ball hit by a user, but may photograph a ball moving by hitting from different angles.

The simulator 300 collects the first image and the second image, calculates the physical property information of the ball based on the collected first image and the second image, and simulates the movement of the ball based on the calculated physical property information You can create an image.

Specifically, the simulator 300 extracts a ball image for each first image frame constituting the collected first image, extracts a first feature point from the extracted ball image, and retrieves the ball image for each second image frame constituting the second image. By extracting the image, the second feature point may be extracted from the extracted ball image. Here, the first feature point may include a center point of the ball, and the second feature point may include at least one mark formed on the ball.

The simulator 300 may calculate the extracted change value of the first feature point and the change value of the second feature point.

The simulator 300 calculates the physical property information of the ball based on the calculated change value of the first feature point and the change value of the second feature point, for example, the ball speed, direction angle, launch angle, spin amount, spin side, back spin, and side spin. can be calculated.

The simulator 300 may generate a simulation image in which the ball moves based on the calculated physical property information of the ball, and may provide the generated simulation image to the image output unit 400 .

The image output unit 400 may interwork with the simulator 300 , receive a simulation image from the simulator 300 , and project the provided simulation image on a screen.

FIG. 2 is a view showing a detailed configuration of the simulator shown in FIG. 1 , FIG. 3 is a view for explaining a principle of extracting feature points in a ball image according to an embodiment, and FIGS. 4A to 4B are a direction angle and a launch angle according to the embodiment 5A to 5B are diagrams for explaining a change in feature points for each frame according to an embodiment.

Referring to FIG. 2 , the simulator 300 according to an embodiment of the present invention may include a collection unit 310 , a simulation unit 320 , an output unit 330 , and a storage unit 340 .

The collection unit 310 interworks with the first image acquisition unit 100 and the second image acquisition unit 200 through wired communication or wireless communication, and the first image acquisition unit 100 and the second image acquisition unit 200 . The first image and the second image may be respectively collected from the .

The simulation unit 320 extracts a ball image for each first image frame constituting the collected first image, extracts a first feature point, that is, a center point of the ball from the extracted ball image, and a second image constituting the second image By extracting the ball image for each frame, the second feature point in the extracted ball image, that is, the mark coordinate value may be extracted.

Referring to FIG. 3 , the simulator 300 according to an embodiment of the present invention extracts the ball image 10 in the second image frame, and at least one feature point, that is, the center point of the ball in the extracted ball image 10 . It is possible to extract the coordinate values of (P) and the mark (11).

To this end, a plurality of marks may be formed on the ball, and a plurality of marks are visible at an angle of being photographed, but it is preferable that at least three or more marks are visible. Although the spin may be measured using a value in which the two marks change, since the calculated value is small, high accuracy of spin cannot be obtained, so three or more marks are preferable.

The simulation unit 320 extracts the four marks 11 formed on the ball and displays them as '+'. Here, '+' is determined to be the center of the ball and may be displayed at a position where the coordinate value is obtained.

The simulation unit 320 may calculate the speed, direction angle, and launch angle of the ball by using the center point P of the ball. For example, the speed of the ball is calculated using the center point of the ball extracted from the first image or the second image, the direction angle is calculated using the center point of the ball in the first image, and the launch angle is the center point of the ball in the second image. can be calculated using

For example, the mark coordinate value may represent a coordinate value having the center point of the ball as the origin.

Referring to FIG. 4A , the simulator 300 according to an embodiment of the present invention may extract a ball image for each frame of the first image, and may actually measure a direction angle based on a center point in the extracted ball image.

Referring to FIG. 4B , the simulator 300 according to an embodiment of the present invention may extract a ball image for each frame of the second image, and may actually measure the launch angle based on a center point in the extracted ball image.

Referring to FIG. 5A , the simulation unit 320 performs a second image frame-by-second image frame, ie, marks {a1, a2, a3, a4} of image frame F1, marks {b1, b2, b3, b4} of F2 , marks of {c1, c2, c3, c4} of F3, marks of {d1, d2, d3} of F4, and marks of {e1, e2, e3} of F5 may be extracted.

Referring to FIG. 5B , the simulation unit 320 may convert a two-dimensional mark coordinate value extracted from each ball image into a three-dimensional mark coordinate value in order to obtain spin information of the ball.

The simulation unit 320 may convert the two-dimensional mark coordinate value into a three-dimensional mark coordinate value using a predetermined method based on the known center point and radius of the ball, wherein the predetermined method is, for example, Ray Various known techniques such as the -Sphere Intersection method may be used, and a detailed description thereof will be omitted.

The simulation unit 320 may calculate coordinate change values of all marks between two adjacent frames using the three-dimensional mark coordinate values converted for each frame, and estimate spin information based on the calculated coordinate change values of the marks. Here, the spin information may include a spin amount, a spin axis, a back spin, and a side spin.

As the number of coordinate values of the mark increases, the spin information may be more accurate. Therefore, in the embodiment, a plurality of spin information is estimated and spin information is verified based on this.

First, when five image frames F1, F2, F3, F4, and F5 are extracted, the coordinate values of the marks {a1', a2', a3', a4'} of the three-dimensionally transformed image frame F1' and F2' The first spin information may be calculated using the coordinate values of the marks {b1', b2', b3', b4'}. Marks {b1-1', b2-1', b3-1', b4-1' of the virtual image frame F2-1' by rotating the ball of the image frame F1' in the three-dimensional space using the calculated spin information } can be created.

The virtual F2-2 converted to two dimensions by converting the coordinate values of the marks {b1-1', b2-1', b3-1', b4-1'} of the virtual image frame F2-1' into two dimensions Coordinate values of the marks {b1-2', b2-2', b3-2', b4-2'} of ' may be generated.

Verifies whether the coordinate values of the marks {b1, b2, b3, b4} of F2 match the coordinate values of marks {b1-2', b2-2', b3-2', b4-2'} of F2-2' can do. Here, that the coordinate values coincide may include a case in which two values are the same or within a predetermined threshold range.

When the comparison results match, it may be determined that the first spin information has been accurately calculated.

And the coordinate values of the marks {b1', b2', b3', b4'} of the image frame F2' transformed into 3D, and the coordinate values of the marks {c1', c2', c3', c4'} of F3' The second spin information may be calculated by using it. Marks {b1-1", b2-1", b3-1", b4-1" of the virtual image frame F2-1" by rotating the ball of the image frame F1' in 3D space using the calculated spin information } and the marks {c1-1', c2-1', c3-1', c4-1'} of F3-1', converted into two dimensions, and marks {b1-2" of F2-2"; Coordinate values of marks {c1-2', c2-2', c3-2', c4-2'} of b2-2", b3-2", b4-2"} and F3-2' can be generated. have.

Verify that the coordinate values of the marks {b1, b2, b3, b4} of F2 match the coordinate values of marks {b1-2", b2-2", b3-2", b4-2"} of F2-2" and the coordinate values of the marks {c1, c2, c3, c4} of F3 coincide with the coordinate values of marks {c1-2', c2-2', c3-2', c4-2'} of F3-2' can be compared to what

When the comparison result matches, it may be determined that the second spin information has been accurately calculated.

In this process, the third spin information using the coordinate values of the mark {a1, a2, a3, a4} of F1 and the coordinate values of the mark {d1, d2, d3} of F4, F1 mark {a1, a2, a3 , a4} and the fourth spin information using the coordinate values of the marks {e1, e2, e3} of F5 may be verified.

Here, a case of generating a virtual image frame corresponding to the first image frame up to the corresponding image frame based on the first image frame by using a plurality of spin information is described as an example, but the present invention is not necessarily limited thereto. Based on the first image frame, a virtual image frame corresponding to the last image frame may be generated.

In addition, although the case is described with reference to the first image frame as an example, the present invention is not necessarily limited thereto, and any one of a plurality of image frames may be used as a reference.

The simulation unit 320 may finally determine the integrated spin information using at least one piece of spin information determined to be accurately calculated according to the verification result.

For example, when it is determined that only the first spin information among the first spin information, the second spin information, the third spin information, and the fourth spin information is accurately calculated, the simulation unit 320 may combine the first spin information with the integrated spin information. can be decided with

As another example, when it is determined that all of the first spin information, the second spin information, the third spin information, and the fourth spin information are accurately calculated, the simulation unit 320 may determine the first spin information, the second spin information, and the third spin information. , an average of the fourth spin information may be determined as the integrated spin information.

Here, a case in which the average of a plurality of spin information is determined as the integrated spin information is described as an example, but the present invention is not limited thereto, and various determination methods may be applied.

The simulation unit 320 may generate a simulation image in which the ball moves based on the determined spin information, and may provide the generated simulation image to the output unit 330 .

The output unit 330 may output the provided simulation image to the image output unit 400 .

The storage unit 340 may store physical property information of the ball and a simulation image.

6 is a diagram illustrating a golf simulation method according to an embodiment of the present invention.

Referring to FIG. 6 , when a user hits a ball, the golf simulation apparatus according to an embodiment of the present invention may acquire images, that is, a first image and a second image by photographing the hit ball ( S601 ). .

Next, the golf simulation apparatus extracts a ball image for each first image frame constituting the first image, extracts a first feature point from the extracted ball image, and extracts a ball image for each second image frame constituting the second image to extract the second feature point in the extracted ball image (S602).

Next, the golf simulation apparatus may calculate the direction angle and the launch angle of the ball based on the center point of the ball included in the extracted first feature point and the second feature point (S603). That is, the golf simulation apparatus may calculate the direction angle of the ball based on the center point of the ball extracted from the first image, and calculate the launch angle of the ball based on the center point of the ball extracted from the second image.

Next, the golf simulation apparatus may convert the two-dimensional coordinate value of the mark included in the extracted second feature point to three-dimensional (S604).

Next, the golf simulation apparatus calculates a coordinate change value between a plurality of second image frames, that is, a coordinate change value between two adjacent second image frames, based on the three-dimensional coordinate value of the converted mark, and the calculated coordinate change value Spin information for each second image frame may be calculated on the basis of ( S605 ).

Next, the golf simulation apparatus may generate a virtual image frame based on one image frame among the plurality of second image frames by using the calculated spin information ( S606 ). That is, the virtual image frame is generated to correspond to the corresponding image frame among the plurality of second image frames obtained in advance by rotating the three-dimensional ball on which the mark is formed according to spin information.

Next, the golf simulation apparatus converts the generated three-dimensional coordinate value of the mark for each virtual image frame into two-dimensional form to generate a two-dimensional coordinate value, and the generated two-dimensional coordinate value matches the coordinate value of the already calculated mark It can be verified by comparison (S607).

Next, the golf simulation apparatus may finally determine the integrated spin information by using at least one piece of spin information in which the coordinate values of the marks match according to the result of comparison and verification ( S608 ).

Next, the golf simulation apparatus may generate a simulation image by performing a simulation using the determined integrated spin information (S609), and may output the generated simulation image (S610).

7A to 7B are diagrams illustrating simulation screens implemented according to an embodiment.

Referring to FIG. 7A , the golf simulation apparatus according to the embodiment may obtain an image when a ball is hit, and extract coordinate values of the mark for each of a plurality of image frames constituting the image.

Referring to FIG. 7B , spin information for each of two adjacent image frames in a plurality of image frames may be calculated using the coordinate values of the marks extracted for each of the plurality of image frames.

Here, it is possible to calculate hundreds to thousands of spin information using five image frames. 59 pieces of spin information out of hundreds to thousands of spin information are calculated, and one integrated spin information is generated using the calculated 59 pieces of spin information. determined and shown.

The term '~ unit' used in this embodiment means software or a hardware component such as a field-programmable gate array (FPGA) or ASIC, and '~ unit' performs certain roles. However, '-part' is not limited to software or hardware. The '~ unit' may be configured to reside on an addressable storage medium or may be configured to refresh one or more processors. Thus, as an example, '~' denotes components such as software components, object-oriented software components, class components, and task components, and processes, functions, properties, and procedures. , subroutines, segments of program code, drivers, firmware, microcode, circuitry, data, databases, data structures, tables, arrays, and variables. The functions provided in the components and '~ units' may be combined into a smaller number of components and '~ units' or further separated into additional components and '~ units'. In addition, components and '~ units' may be implemented to play one or more CPUs in a device or secure multimedia card.

Although the above has been described with reference to preferred embodiments of the present invention, those skilled in the art can variously modify and change the present invention within the scope without departing from the spirit and scope of the present invention as set forth in the claims below. You will understand that it can be done.

100: first image acquisition unit
200: second image acquisition unit
300: Simulator
310: collection unit
320: simulation unit
330: output unit
340: storage unit
400: video output unit

Claims (15)

a first image acquisition unit disposed on the top of the bat and acquiring a first image by photographing a ball that is hit and moves;
a second image acquisition unit disposed in front of the turn at bat to acquire a second image by photographing the ball;
The first feature point of the ball for each first image frame constituting the first image and the second feature point of the ball for each second image frame constituting the second image are extracted, and the mark of the extracted second feature point is The ball spin information is calculated for each second image frame by converting a two-dimensional coordinate value into a three-dimensional coordinate value, and a virtual image frame is generated using the calculated spin information, and the generated virtual image frame and a simulator that compares and verifies the second image frame, determines integrated spin information according to a result of the comparative verification, and performs a simulation using the determined integrated spin information to generate a simulated image; and
A golf simulation device comprising an image output unit for outputting the generated simulation image to a screen. According to claim 1,
The simulator is
calculating the direction angle of the ball by using the center point of the ball extracted for each of a plurality of image frames constituting the first image among the extracted first feature points,
A golf simulation apparatus for calculating the launch angle of the ball by using the center point of the ball extracted for each of a plurality of image frames constituting the second image among the extracted second feature points. According to claim 1,
The simulator is
Converting the two-dimensional coordinate value of the mark extracted for each plurality of second image frames constituting the second image among the extracted second feature points into a three-dimensional coordinate value,
calculating a coordinate change value between the plurality of second image frames by using the three-dimensional coordinate value of the converted mark,
A golf simulation apparatus for calculating spin information for each second image frame by using the coordinate change value. 4. The method of claim 3,
The simulator is
generating at least one virtual image frame by applying a plurality of spin information calculated for each second image frame based on one reference image frame among a plurality of second image frames,
To generate a two-dimensional virtual coordinate value of the mark by converting the three-dimensional virtual coordinate value of the mark for each generated virtual image frame into two dimensions,
Compare and verify the two-dimensional virtual coordinate value of the mark and the two-dimensional coordinate value of the extracted mark,
A golf simulation apparatus for finally determining integrated spin information by using at least one piece of spin information in which the coordinate values of the marks match according to the result of the comparison and verification. 5. The method of claim 4,
The simulator is
calculating a plurality of spin information using one reference image frame serving as a reference among the plurality of second image frames and each of the remaining image frames;
A golf simulation apparatus for generating a virtual image frame corresponding to a corresponding image frame based on one image frame serving as the reference by using each of the calculated plurality of spin information. 5. The method of claim 4,
The simulator is
calculating a plurality of spin information using one image frame serving as a reference among the plurality of second image frames and each of the remaining image frames;
A golf simulation apparatus for generating a virtual image frame corresponding to the last image frame based on the one image frame serving as the reference by using each of the calculated plurality of spin information. 5. The method of claim 4,
The simulator is
When the two-dimensional virtual coordinate value of the mark and the two-dimensional coordinate value of the extracted mark match or are within a critical range, it is determined that the coordinate value of the mark coincides, a golf simulation device. acquiring a first image by photographing the ball in motion by the first image acquisition unit disposed on the top of the plate at bat, and acquiring a second image by the second image acquisition unit disposed on the front of the plate at bat photographing the ball ;
The simulator extracts a first feature point of the ball for each first image frame constituting the first image and a second feature point of the ball for each second image frame constituting the second image, and among the extracted second feature points converting a two-dimensional coordinate value of a mark into a three-dimensional coordinate value and calculating spin information of the ball for each second image frame; and
generating, by the simulator, a virtual image frame using the calculated spin information, comparing and verifying the generated virtual image frame and the second image frame, and determining integrated spin information according to a result of the comparison and verification;
and generating, by the simulator, performing a simulation using the determined integrated spin information to generate a simulation image and outputting it to a screen. 9. The method of claim 8,
In the calculating step,
calculating the direction angle of the ball by using the center point of the ball extracted for each of a plurality of first image frames constituting the first image among the extracted first feature points,
A golf simulation method of calculating the launch angle of the ball by using the center point of the ball extracted for each of a plurality of second image frames constituting the second image among the extracted second feature points. 9. The method of claim 8,
In the calculating step,
Converting the two-dimensional coordinate value of the mark extracted for each plurality of second image frames constituting the second image among the extracted second feature points into a three-dimensional coordinate value,
calculating a coordinate change value between the plurality of second image frames by using the three-dimensional coordinate value of the converted mark,
A golf simulation method of calculating spin information for each second image frame by using the coordinate change value. 11. The method of claim 10,
In the determining step,
generating at least one virtual image frame by applying a plurality of spin information calculated for each image frame based on any one image frame among a plurality of second image frames,
To generate a two-dimensional virtual coordinate value of the mark by converting the three-dimensional virtual coordinate value of the mark for each generated virtual image frame into two dimensions,
Compare and verify the two-dimensional virtual coordinate value of the mark and the two-dimensional coordinate value of the extracted mark,
A golf simulation method for finally determining integrated spin information by using at least one piece of spin information in which the coordinate values of the marks match according to the result of the comparison and verification. 12. The method of claim 11,
In the determining step,
calculating a plurality of spin information using one image frame serving as a reference among the plurality of second image frames and each of the remaining image frames;
A golf simulation method of generating a virtual image frame corresponding to a corresponding image frame based on one image frame serving as the reference by using each of the calculated plurality of spin information. 12. The method of claim 11,
In the determining step,
calculating a plurality of spin information using one image frame serving as a reference among the plurality of second image frames and each of the remaining image frames;
A golf simulation method of generating a virtual image frame corresponding to the last image frame based on the one image frame serving as the reference by using each of the calculated plurality of spin information. 12. The method of claim 11,
In the determining step,
When the two-dimensional virtual coordinate value of the mark and the two-dimensional coordinate value of the extracted mark match or are within a critical range, it is determined that the coordinate value of the mark coincides, a golf simulation method. a first image acquisition unit disposed on the top of the bat and acquiring a first image by photographing a ball that is hit and moves;
a second image acquisition unit disposed in front of the turn at bat to acquire a second image by photographing the ball;
The first feature point of the ball for each first image frame constituting the first image and the second feature point of the ball for each second image frame constituting the second image are extracted, and the mark of the extracted second feature point is The spin information of the ball is calculated for each image frame by converting a two-dimensional coordinate value into a three-dimensional coordinate value, and a virtual image frame is generated using the calculated spin information, and the generated virtual image frame and the second Comprising a simulator that compares and verifies 2 image frames, determines integrated spin information according to the result of the comparative verification, and performs a simulation using the determined integrated spin information to generate a simulation image,
The simulator is
Using the Ray-Sphere Intersection method based on the known center point and radius of the ball, the two-dimensional coordinate value of the extracted mark for each of the plurality of second image frames constituting the second image among the extracted feature points is the three-dimensional coordinate convert it to a value,
calculating a coordinate change value between the plurality of second image frames using the three-dimensional coordinate value of the converted mark, and calculating spin information for each second image frame using the coordinate change value,
generating at least one virtual image frame by applying a plurality of spin information calculated for each image frame based on any one image frame among a plurality of second image frames,
To generate a two-dimensional virtual coordinate value of the mark by converting the three-dimensional virtual coordinate value of the mark for each generated virtual image frame into two dimensions,
The two-dimensional virtual coordinate value of the mark and the two-dimensional coordinate value of the extracted mark are compared and verified, and the integrated spin information is obtained by using at least one piece of spin information in which the coordinate value of the mark coincides according to the comparison and verification result. Final decision, golf simulation device.

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