KR20220162909A - Method for Tracing Golf Ball and System for the Same - Google Patents

Abstract

Provided are a method for tracing a golf ball and a system for the same. The method for tracing a golf ball comprises: a camera photographing video step of photographing a tee shot video for an interested area set at an upper part of a tee box by including golf balls shot by a wide-angle camera and a telephoto camera; a video image selecting step of selecting at least two video images at image time intervals in the tee shot video; an identification image generating step of generating an identification image reflecting a color value difference between the at least two selected video images; a golf ball detecting step of detecting an area displayed in white in the identification image with a golf ball; a golf ball color value determining step of determining an image value of a video image corresponding to a position of the golf ball detected in the identification image as a color value of the golf ball; a golf ball tracing step of recognizing the golf ball by converting the video image photographed by the wide-angle camera and the telephoto camera into a binary image by using the color value of the golf ball, and tracing the golf ball by controlling the wide-angle camera and the telephoto camera; and a golf ball landing confirming step of generating a landing image including the landed golf ball by confirming whether the golf ball is landed on the ground. The present invention accurately and efficiently traces the golf ball.

Description

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

The present invention relates to a golf ball tracking method and a system for providing a landing position of a golf ball on the ground by tracking a tee shot in a round of golf.

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

Golf rounding requires appropriate identification of the trajectory of the golf ball and the landing position on the ground during the tee shot process for smooth progress. Since the golf ball flies in various directions according to the skill of the golfer during the tee shot process, it may not be easy to determine the landing position of the golf ball. Since the golfer concentrates on hitting the golf ball during the tee shot process, the landing position of the golf ball is mainly determined by the caddy. Therefore, the caddy quickly recognizes the landing position of the golf ball and helps smoothly progress the round of golf. Recently, since the supply of caddies is not smooth, it is difficult to properly secure caddies at golf courses. In addition, since the supply of caddies is not smooth, the golfer's financial burden increases as the caddy fee increases.

Meanwhile, the golf course provides a picture of a tee shot moment or a picture of a hole-in-one golf ball as a service to golfers. A golfer wants to keep a flight video of a golf ball when a hole-in-one or a tee shot is successful, but it is not easy to secure the flight video.

An object of the present invention is to provide a golf ball tracking method and system for providing a landing position of a golf ball on the ground by tracking a golf ball tee-shot in a round of golf.

In addition, an object of the present invention is to provide a golf ball tracking method and system for generating and providing a flight image of a golf ball from a tee shot to landing on the ground in a round of golf.

A golf ball tracking method according to an embodiment of the present invention to solve the above problems is a camera that captures a tee shot image with respect to a region of interest set above the tee box, including a golf ball tee-shot by a wide-angle camera and a telephoto camera. A photographing video step, a video image selection step of selecting at least two video images at an image time interval from the tee shot video, and an identification image generating an identification image reflecting a color value difference between the selected at least two video images. A generating step, a golf ball detecting step of detecting an area marked as white in the identification image as the golf ball, and a color value of a video image corresponding to the position of the golf ball detected in the identification image as a golf ball color value. determining a golf ball color value; converting video images photographed by the wide-angle camera and the telephoto camera into binarized images using the golf ball color values to recognize the golf ball and control the wide-angle camera and the telephoto camera to golf It is characterized in that it includes a golf ball tracking step of tracking a ball and a golf ball landing confirmation step of generating a landing image including the landed golf ball by checking whether or not the golf ball has landed on the ground.

In addition, the identification image generation step may include a gray image generation process of converting at least two video images into gray images, and a color value difference between each pixel by comparing color values for each pixel at a corresponding position of the two gray images. A color value difference calculation process for calculating and displaying a white area by assigning a white color value to a pixel for which the color value difference is greater than the set identification reference value for each pixel, and displaying a black color value for pixels smaller than the identification reference value It may include an identification image generation process of generating the identification image by allocating and displaying it as a black area.

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

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

The golf ball tracking step may include an image binarization process of converting the video image into a binarized image having a golf ball area having the golf ball color value and a background area not having the golf ball color value; A golf ball recognition process for recognizing a golf ball and determining the position of the golf ball and a golf ball position change process for moving the directions of the wide-angle camera and the telephoto camera so that the recognized golf ball position is at the center of the binarized image. can include

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

In addition, the wide-angle camera and the telephoto camera may be linked together to track the golf ball.

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

The golf ball tracking method and system of the present invention can provide a landing position of a golf ball on the ground while tracking a golf ball being tee shot by using a wide-angle camera and a telephoto camera together.

In addition, since the golf ball tracking method and system of the present invention recognizes a golf ball by processing video images captured by a wide-angle camera and a telephoto camera, the golf ball can be recognized and tracked more accurately and efficiently.

In addition, the golf ball tracking method and system of the present invention can track the golf ball without missing it by tracking the golf ball by interlocking the wide-angle camera and the telephoto camera.

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

In addition, the golf ball tracking method and system of the present invention may capture and provide an entire flight image of a golf ball entering a hole cup from a tee shot in a par 3 hole.

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

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

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

1 is a schematic configuration diagram of a golf ball tracking system according to an embodiment of the present invention. FIG. 2 is a schematic diagram of a region of interest of a tee box in which a camera module of the golf ball tracking system of FIG. 1 is installed. 3A and 3B are plan views illustrating locations where the camera module of FIG. 1 is installed in a hole course.

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

The golf ball tracking system has a camera module 100 installed in one hole course of a golf course to track a golf ball from a tee shot until it lands on the ground, and receives information about the landing position where the golf ball lands on the ground. (400). To this end, the camera module 100 may create a video image by taking pictures while following the golf ball while it is in flight. The camera control module 200 may detect the golf ball in the video image and control the camera module 100 so that the camera module 100 continuously tracks and captures the golf ball. The central server 300 is connected to the camera control module 200, and transmits a video image of the landing position of the golf ball or a captured image of the flight of the golf ball received from the camera module 100 to the receiving terminal 400. can transmit

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

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

The camera module 100 includes a wide-angle camera 110 and a telephoto camera 140 and can track a golf ball. At this time, in the camera module, the wide-angle camera 110 and the telephoto camera 140 may respectively track the golf ball. In addition, the camera module 100 may track a golf ball while the wide-angle camera 110 and the telephoto camera 140 are linked together. In this case, the camera module 100 can track the golf ball more efficiently without missing it.

The camera module 100 includes a wide-angle camera 110 and a telephoto camera 140, and can track and capture a golf ball from a tee shot until it lands on the ground. In this case, the wide-angle camera 110 may track the golf ball while being tilted and panned by the wide-angle tilting motor 120 and the wide-angle panning motor 130 to capture a flight image of the golf ball. In addition, the telephoto camera 140 may capture flight images of the golf ball while being tilted and panned by the telephoto tilting motor 150 and the telephoto panning motor 160 .

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

The camera module 100 may be installed at a predetermined location capable of capturing a region of interest (a) of a tee box in any one hole course of a golf course. The camera module 100 may be adjusted in a shooting direction and a shooting magnification to capture a region of interest of the tee box. The camera module 100 may capture the region of interest in a frontal direction of the region of interest according to the shape of the hole course. The camera module 100 may capture the region of interest in a direction forming a predetermined acute angle with the front direction of the region of interest. The camera module 100 may capture a region of interest using the wide-angle camera 110 and the telephoto camera 140 .

Here, the region of interest (a), as shown in FIG. 2, is a region perpendicular to the direction in which the golf ball (b) tee-shot from the tee box flies, and is a virtual region having a predetermined width and height. For example, the region of interest is the entire width of the tee box or the bottom line spaced apart from the ground between two tee markers (or tee blocks) (c) installed in the tee box and the top line located at a predetermined height from the bottom line It can be defined as a rectangle defined by The lower line may be higher than a golf tee or golfer's height. Also, the top line may be a position higher than the maximum height at which the golf ball flies. The region of interest may be set at a position advanced a predetermined distance from the tee box. The region of interest may be determined in consideration of the height of the tee box and the arrangement relationship with the fairway.

In addition, the camera module 100 has a larger distance from the tee box than a landing area on the ground where a tee shot golf ball lands in a hole course (ie, an area corresponding to the average or maximum distance of golfers during a tee shot). It can be installed in the installation area between the landing areas. Accordingly, the camera module 100 may capture a flight image of the golf ball while tracking the golf ball being tee-shot.

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

The wide-angle camera 110 may be formed as a general wide-angle camera. For example, the wide-angle camera 110 may refer to a camera having a relatively short focal length and a wide field of view. The wide-angle camera 110 may track the golf ball while taking images in a wider area. The focal length and angle of view of the wide-angle camera 110 may be changed according to the installation location. The wide-angle camera 110 may be formed as a camera having a resolution of 1280 x 720, a field of view of 1000 m, a field of view of 50 m, and specifications of 60 FPS.

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

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

The wide-angle camera 110 may be electrically connected to the camera control module 200 to be communicated with and controlled. Accordingly, the wide-angle camera 110 may be configured to be turned on/off and operated according to a control signal of the camera control module 200 . In addition, the wide-angle camera 110 may capture a tee shot image proceeding from the tee box under the control of the camera control module 200 . Also, the wide-angle camera 110 may capture a flight image of a golf ball under the control of the camera control module 200 .

The wide-angle tilting motor 120 may be formed of a motor that can be precisely controlled, such as a servo motor. The wide-angle tilting motor 120 is coupled to the wide-angle camera 110 and can rotate the wide-angle camera 110 vertically at a predetermined angle. The wide-angle tilting motor 120 may be coupled to the wide-angle camera 110 by a separate frame (not shown). The wide-angle tilting motor 120 may rotate the wide-angle camera 110 at a predetermined wide-angle tilting angle based on a horizontal axis. The wide-angle tilting angle may be -45 to 60 degrees in a vertical direction.

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

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

The wide-angle panning motor 130 may be electrically connected to and controlled by the camera control module 200 . The wide-angle panning motor 130 may be turned on/off and driven according to a control signal of the camera control module 200 . Also, the number of rotations and rotation time of the wide-angle panning motor 130 may be controlled by the control of the camera control module 200 .

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

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

The telephoto camera 140 may be tilted up and down at a predetermined telescopic tilting angle or panned horizontally at a predetermined telescopic panning angle. Also, the telephoto camera 140 may be tilted at a wide-angle tilting angle or panned at a wide-angle panning angle when the wide-angle camera 110 is tilted or panned. Accordingly, the telephoto camera 140 may be tilted or panned at a wide-angle tilting angle or a wide-angle panning angle together with the wide-angle camera 110, and then further tilted at a telescopic tilting angle or panned at a telephoto panning angle. The telephoto camera 140 may be tilted or panned independently of the wide-angle camera 110 .

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

The telescopic camera 140 may be electrically connected to the camera control module 200 and communicated and controlled. Accordingly, the telephoto camera 140 may be configured to be turned on/off and operated according to a control signal of the camera control module 200 . In addition, the telephoto camera 140 may capture a tee shot image proceeding from the tee box under the control of the camera control module 200 . Also, the telephoto camera 140 may capture a flight image of a golf ball under the control of the camera control module 200 .

The telescopic tilting motor 150 may be formed of a motor that can be precisely controlled, such as a servo motor. The telephoto tilting motor 150 may be coupled to the telephoto camera 140 by a separate frame (not shown). The telescopic tilting motor 150 may rotate the telescopic camera 140 at a predetermined telescopic tilting angle. The telescopic tilting motor 150 may rotate the telephoto camera 140 at a telescopic tilting angle. The telescopic tilting angle may be -30 to 50 degrees in the vertical direction.

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

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

The telescopic panning motor 160 may be electrically connected to and controlled by the camera control module 200 . The telescopic panning motor 160 may be turned on/off and driven according to a control signal of the camera control module 200 . Also, the number of rotations and rotation time of the telescopic panning motor 160 may be controlled by the control of the camera control module 200 .

The camera control module 200 is communicatively connected to the wide-angle camera 110 and the telephoto camera 140 by wire or wirelessly, transmits and receives control signals, and images captured by the wide-angle camera 110 and the telephoto camera 140. information can be received. In addition, the camera control module 200 is electrically connected to and controls the wide-angle tilting motor 120, the wide-angle panning motor 130, the telescopic tilting motor 150, and the telephoto panning motor 160. The camera control module 200 may control the rotation time and number of rotations of each motor. Accordingly, the camera control module 200 may control tilting and panning angles of the wide-angle camera 110 and the telephoto camera 140 .

The camera control module 200 may select at least two video images captured at a predetermined frame interval or a capturing time interval (eg, 60 FPS) from the captured images transmitted from the camera module 100 . The frame interval or photographing time interval needs to be determined so that the golf balls do not overlap with each other in the two video images. In addition, the frame interval or the photographing time interval needs to be determined so that both golf balls exist in the two video images. Accordingly, the frame interval or photographing time interval may be determined differently depending on the amount of light incident on the camera and the time required for image processing. In addition, the light amount condition and the angle of view of the camera may be determined in consideration of the environment of the camera installation location, the size of the golf ball appearing in the video image, the expected flight speed of the golf ball at the time of the installation tee shot, the expected flight angle of the golf ball observed by the camera, and the like. can Meanwhile, the camera control module 200 may additionally select an initial image captured after transmitting the tee shot start signal.

The camera control module 200 may detect a golf ball hit from a tee box from video images taken by the wide-angle camera 110 and the telephoto camera 140 . Also, the camera control module 200 may control the camera module 100 to track the detected golf ball. That is, the shopping mall camera control module 200 recognizes and tracks the golf ball in the video images captured by the camera module 100 from the tee shot to the ground, so that the camera module 100 captures the image of the golf ball can make it Also, the camera control module 200 may generate a landing image of a golf ball landing on the ground.

In addition, the camera control module 200 may be connected to the central server 300 through the Internet or a communication network to transmit/receive information necessary for performing various procedures of the golf ball tracking method. For example, the camera control module 200 may transmit/receive various information necessary for tracking a golf ball. Also, the camera control module 200 may receive information on the receiving terminal 400 performing a round of golf. In addition, the camera control module 200 may transmit an image of a golf ball landing or a flight image of a golfer's tee shot to the central server 300 .

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

The central server 300 may be connected to the receiving terminal 400 using the Internet or a separate communication network. In addition, the central server 300 may transmit, to the receiving terminal 400 , a golf ball landing image or a golf ball flight image generated in a hole course in which a golfer rounds golf.

The receiving terminal 400 is interlocked with the central server 300 or the camera control module 200 and can receive a golf ball landing image or a golf ball flight image. In addition, the receiving terminal 400 may transmit golfer or caddy information necessary for implementing the golf ball tracking method to the central server 300 .

The receiving terminal 400 may be a personal terminal owned by a golfer or a caddy terminal mounted on a cart operated by a caddy. Also, the receiving terminal 400 may be various terminals capable of accessing the central server 300 . The receiving terminal 400 may be a variety of terminals capable of communicating by Wi-Fi, which is short-range communication, or 4G and 5G, which are wireless communications.

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

The receiving terminal 400 may be connected to the central server 300 through the Internet or a separate communication network. The reception terminal 400 may receive a landing image or video of a golf ball from the central server 300 during the golfer's round of golf. Also, the receiving terminal 400 may receive a flight image of a golf ball. Therefore, the golfer can check the landing position of the golf ball.

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

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

In addition, the local server 500 can access the receiving terminal 400 of a golfer who visits the corresponding golf course and conducts a round of golf. The local server 500 may transmit an image of a golf ball landing or a flight image of a golfer's tee shot to the receiving terminal 400 .

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

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

Referring to FIGS. 4 to 8B , the golf ball tracking method of the present invention includes a camera image capture step (S10), a video image selection step (S20), an identification image generation step (S30), and a golf ball detection step (S20). S40), golf ball color value determination step (S50), golf ball tracking step (S60), and golf ball landing confirmation step (S70) may be included. In addition, the golf ball tracking method may further include a golf ball lock-on step (S42) and a clutter rejection step (S44). The golf ball tracking method may further include generating a golf ball flight image (S80) and providing a golf ball flight image (S90).

The golf ball tracking method may provide a landing position where the golf ball lands on the ground by tracking the golf ball from a tee shot until it lands on the ground using the wide-angle camera 110 and the telephoto camera 140 . In addition, since the golf ball tracking method and system recognizes a golf ball by processing video images captured by the wide-angle camera 110 and the telephoto camera 140, the golf ball can be recognized and tracked more accurately and efficiently. In the following description, when the wide-angle camera 110 and the telephoto camera 140 are simultaneously applied or used together, the wide-angle camera 110 and the telephoto camera 140 may be referred to as cameras.

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

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

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

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

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

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

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

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

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

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

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

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

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

In the process of generating the identification image, a white color value is assigned to a pixel having a difference in color value greater than the set identification reference value for each pixel and displayed as a white area, and a black color value is assigned to a pixel smaller than the identification reference value to display a black area. This is the process of creating an identification image by displaying it in color. 7 is an exemplary identification image generated from the gray images of FIGS. 6A and 6B. The color value of white may be 255, and the color value of black may be 0. The identification image has a color value of 0 or 255 for each pixel, and may be formed as a black and white image. For example, when the identification reference value is 100, a color value of 255 may be assigned to a pixel having a color value difference greater than 100, and a color value of 0 may be assigned to a pixel having a color value difference of less than 100. Accordingly, the identification image may be formed of an image including only a white area and a black area. In the identification image, a color value corresponding to white may be allocated to an area where the golf ball is located, and a color value corresponding to black may be allocated to an area where the background is located.

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

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

The white area may not be formed in a perfectly circular shape in the identification image, but may be formed in an elliptical shape, a rectangular shape, or an irregular shape. Accordingly, the golf ball may be detected as an area corresponding to a perfect circular or square shape in the white area. In this case, the golf ball may be detected with an area smaller than the white area and may be detected with an area smaller than that of the golf ball in the video image. In the golf ball detection step (S40), the golf ball may be set as coordinates and an area in the identification image. In the golf ball detection step (S40), the center of mass of the golf ball image may be calculated and calculated as coordinates (x and y coordinates) in the video image.

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

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

The clutter rejection step (S44) is a step of removing background clutter from the identification image. Here, the clutter may mean that it is displayed as a white area identical to a golf ball due to a background in the identification image. Since the video image is captured while the wide-angle camera 110 and the telephoto camera 140 move along the golf ball, the background along with the golf ball may appear as a moving object in the video image. Therefore, the video images may differ from each other in color of each pixel depending on the background along with the golf ball. In addition, in the identification image, a part of the background together with the golf ball may be displayed as a white area to generate clutter (noise) for the golf ball.

In the golf ball detection step (S40), the golf ball is detected using an identification image generated by at least two video images taken by the wide-angle camera 110 and the telephoto camera 140, so that the white area due to the background is detected. It can be influenced to detect the golf ball by the. The background may be largely removed in the identification image generation step (S30) because the difference in gray scale color values among the gray images is not greater than that of the golf ball. Therefore, in the clutter rejection step S44, clutter (noise) displayed as a white area mainly due to the background may be removed. Also, in the clutter rejection step (S44), clutter that is far from the golf ball may be removed rather than clutter that is closer to the golf ball. In addition, the clutter close to the golf ball has little effect on the calculation of the position of the golf ball, but the clutter located far from the golf ball may cause an error in the calculation of the position of the golf ball, so it is necessary to remove it.

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

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

In the golf ball tracking step (S60), video images captured by the wide-angle camera 110 and the telephoto camera 140 are converted into binary images using the golf ball color values to recognize the golf ball, and the wide-angle camera 110 and the telephoto camera 140 recognize the golf ball. This step is to track the golf ball while controlling the camera 140 . In the golf ball tracking step (S60), the video image is converted into a binary image using the color value of the golf ball, so that the golf ball can be more easily recognized.

Since the golf ball continues to fly after the tee shot, it can move from the center to the outer direction in sequentially captured video images. Accordingly, the wide-angle camera 110 and the telephoto camera 140 can track the golf ball without missing it when the golf ball is controlled to be located in the center of the video image. If the golf ball is positioned at the center of the video image, the probability that the golf ball escapes from the wide-angle camera 110 when the wide-angle camera 110 and the telephoto camera 140 track the golf ball may be reduced. In the golf ball tracking step (S60), the golf ball can be tracked more efficiently by continuously locating the golf ball in the center of the video image.

In the golf ball tracking step (S60), the golf ball may be tracked by simultaneously utilizing the wide-angle camera 110 and the telephoto camera 140. In the golf ball tracking step (S60), the golf ball may be tracked using the wide-angle camera 110 and the telephoto camera 140 complementary to each other. In the golf ball tracking step (S60), when the telephoto camera 140 or the telephoto camera 140 misses the golf ball, the wide-angle camera 110 and the telephoto camera ( 140) can track the golf ball without missing it. For example, when the telephoto camera 140 misses a golf ball (if the golf ball moves abnormally fast, such as when it bounces against a rock or tree), the rotation angle or rotation direction of the wide-angle camera 110 Using the data, the telephoto camera 140 can be rotated to find and track the golf ball again. In addition, when the wide-angle camera 110 misses the golf ball (when the golf ball goes up to the sky and there are clouds in the sky, it is difficult to distinguish the color from the golf ball), data on the rotation angle or rotation direction of the telephoto camera 140 is used. By doing so, the wide-angle camera 110 can be rotated to find and track the golf ball again.

The golf ball tracking step (S60) may include an image binarization process, a golf ball recognition process, and a golf ball location change process. Also, the golf ball tracking step (S60) may further include a process of setting a search region of interest. In the golf ball tracking step (S60), the golf ball may be tracked while repeating the image binarization process, the golf ball recognition process, and the golf ball position change process.

The image binarization process is a process of converting a video image into a binarized image having a golf ball area having a golf ball color value and a background area having no golf ball color value. As described above, the golf ball color value may be a color value having a predetermined range. In the binarized image, the golf ball area may be displayed in white and the background area may be displayed in black. Accordingly, the image binarization process may remove all colors except for the color of the golf ball from the video image. 8A and 8B are binarized images generated from video images captured at predetermined intervals. Referring to FIGS. 8A and 8B , it can be seen that the position of the golf ball changes in the flight direction in two binarized images.

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

The golf ball recognizing process is a process of determining the position of the golf ball by recognizing the golf ball in the binarized image. The golf ball recognition process may recognize a white area, which is a golf ball area, while scanning a binarized image. In this case, the golf ball recognition process may scan the entire binarized image or a search region of interest set in the binarized image. Also, the golf ball recognition process may determine the position of the recognized golf ball in the binarized image. The position of the golf ball may be calculated by calculating the center of gravity of the golf ball image recognized in the binarized image. The position of the golf ball may be set as coordinate values (x, y) of the x-axis and y-axis in the binarized image.

The process of changing the position of the golf ball is a process of moving the directions of the wide-angle camera 110 and the telephoto camera 140 so that the position of the recognized golf ball comes to the center of the binarized image. The process of changing the location of the golf ball may be performed by controlling the wide-angle camera 110 and the telephoto camera 140 so that the calculated location of the golf ball comes to the center of the binarized image. That is, in the process of changing the position of the golf ball, the wide-angle camera 110 and the telephoto camera 140 are controlled and rotated so that the golf ball is positioned at the center of the binarized image. At this time, the wide-angle camera 110 and the telephoto camera 140 may rotate horizontally and vertically.

As mentioned above, in the golf ball tracking step (S60), the golf ball may be continuously tracked while repeating the image binarization process, the golf ball recognition process, and the golf ball position change process. In the golf ball tracking step (S60), when the golf ball position change process for one video image is completed, the image binarization process, golf ball recognition process, and golf ball position change process may be performed again for a new video image. Also, the region of interest to be searched may be set to a region in which the region of interest to be searched in a video image prior to the video image in which the current image binarization process is performed and the moving direction and moving speed of the golf ball are reflected. For example, the moving direction and moving speed of the golf ball may be calculated by reflecting the moving direction and moving distance of the golf ball in the previous golf ball tracking steps (S60). In the golf ball tracking step (S60), the trajectory of the golf ball when viewed from the ground may be derived through rotational angles of the wide-angle camera 110 and the telephoto camera 140.

The golf ball landing confirmation step (S70) is a step of generating a landing image including the landing golf ball by checking whether or not the golf ball has landed on the ground. The golf ball landing confirmation step (S70) is a step of checking whether or not the golf ball is recognized in the binarized image while the golf ball tracking step (S60) proceeds. More specifically, the golf ball landing confirmation step (S70) is a step of checking whether or not the golf ball is recognized in the golf ball recognition process of the golf ball tracking step (S60). In the golf ball landing confirmation step (S70), if the golf ball recognition process is not repeated a predetermined number of times, it may be determined that the golf ball has not moved and the golf ball has landed. In the golf ball landing confirmation step (S70), a landing image of the golf ball landing on the ground may be generated. The landing image may be an image including a landed golf ball and a surrounding background. Also, in the golf ball landing confirmation step (S70), a landing image may be generated.

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

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

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

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

100: camera module 110: wide-angle camera
120: wide-angle tilting motor 130: wide-angle panning motor
140: telephoto camera 150: telephoto tilting motor
160: telescopic panning motor 200: camera control module
300: central server 400: golfer terminal
500: local server

Claims (8)

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

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