TWI453056B - Virtual golf simulation apparatus and sensing device and method used for the same - Google Patents

Description

Virtual golf simulation device and sensing device and sensing method therefor

The present invention relates to a virtual golf simulation device and a sensing device and sensing method therefor, and more particularly to a method in which a virtual golf course is imaged and simulated and a track of a golf ball hit by a user is sensed by the sensing device. And a virtual golf simulation device simulated on a virtual golf course, and a sensing device and sensing method thereof.

In recent years, many devices have been developed to allow users to enjoy popular sports games, such as baseball, soccer, basketball, and golf, in the form of interactive sports games, either indoors or in specific places.

In particular, in recent years, a so-called screen golf system has been developed in which when a user swings a golf club to strike a golf ball placed on a ball striking pad, the sensor senses the tapped golf ball to extract the movement The physical information on the golf ball enables the trajectory of the golf ball to be simulated on the virtual golf course, so that the user can enjoy the golf in the virtual reality.

In order to simulate the use of sports such as golf balls in such interactive sports games, many studies have been introduced into many sensing systems for accurately sensing the physical information on a moving golf ball, ie the movement of the golf ball. .

For example, many sensing devices, such as a sensing device using an infrared sensor, a sensing device using a laser sensor, a sensing device using an acoustic wave sensor, and a sensing device using a photo sensor, They have all been introduced to the market. Many studies have been introduced into photosensor type sensing devices for obtaining and analyzing images of moving golf balls in order to accurately sense the state of the moving golf ball.

However, the photographing area of the camera is fixed, and the camera obtains an image of the moving golf ball in the fixed photographing area, with the result that when the golf ball moves, the size of the golf ball in the image gradually changes. For this reason, it is difficult to distinguish golf balls from noise. In particular, when a camera having low performance is used, it is difficult to find a golf ball in an image obtained by the camera, and thus it is difficult to accurately calculate the trajectory of the golf ball.

Accordingly, the present invention has been made in view of the above problems, and an object of the present invention is to provide a virtual golf simulation apparatus in which a virtual golf simulation is used to obtain an image of a golf ball that a user swings a golf club to strike a golf ball. And finding a golf ball from the obtained image, calculating a moving track of the golf ball, thereby realizing a simulated image of the golf ball track, in particular, wherein the golf ball is easily and accurately extracted from the image to accurately calculate the trajectory of the golf ball, The problem of difficulty in extracting a golf ball by solving the change in the size of the golf ball on the image obtained by the camera is solved, and the sensing device and the sensing method used therefor are disclosed.

In accordance with features of the present invention, the above and other objects are accomplished by providing a sensing device for a virtual golf simulation device, the sensing device comprising: a camera unit for obtaining a user swinging a golf club to strike a golf ball a plurality of frame images of the golf ball struck by the ball; and a sensing processing unit including a pre-processing device and a same board matching device for processing the images obtained by the camera unit, thereby Extracting a plurality of golf ball candidates, and the template matching device is configured to preset and store a golf ball template as a reference image of the golf ball, and according to the size of each golf ball candidate, the change matches the extracted The golf ball candidate and the golf sample are used to extract information of the golf ball.

According to another feature of the present invention, a virtual golf simulation device is provided, including a sensing device, the sensing device comprising: a photographic unit for obtaining a golf that a user swings a golf club to strike a golf ball a plurality of frame images of the ball, and a sensing processing unit, including a pre-processing device and a same board matching device, configured to process the images obtained by the camera unit, thereby extracting a plurality of golf ball candidates And the template matching device is configured to preset and store a golf sample as a reference image of the golf ball, and according to the size of each golf candidate, the matching matches the extracted golf candidates and The golf model is used to extract information of the golf ball; and an image realizing device is configured to implement the simulated image of the trajectory of the golf ball according to the information extracted by the sensing processing unit.

According to still another feature of the present invention, a sensing method for virtual golf simulation is provided, comprising: obtaining a plurality of frame images of a golf ball that a user swings a golf club to strike a golf ball; Waiting for an image to extract a plurality of golf ball candidates; and matching the selected golf candidates and a golf ball template according to the size of each golf candidate, the golf card template being preset and stored As a part of golf Test images to extract information about golf balls.

Exemplary embodiments of a virtual golf simulation apparatus and method and a sensing apparatus and sensing method therefor according to the present invention will now be described in detail with reference to the accompanying drawings.

First, a virtual golf simulation apparatus and a sensing apparatus used therefor according to an embodiment of the present invention will be described with reference to FIGS. 1 and 2.

1 is a schematic diagram showing an example of a screen golf system to which a virtual golf simulation apparatus is applied according to an embodiment of the present invention, and FIG. 2 is a block diagram showing a configuration of a virtual golf simulation apparatus to which the screen golf system of FIG. 1 is applied.

As shown in FIGS. 1 and 2, a virtual golf simulation apparatus according to an embodiment of the present invention includes a sensing device S for sensing a golf ball B tapped by a user, and an image for realizing a virtual golf course. And based on the sensing result of the sensing device S, the simulator 1 of the simulated image of the trajectory of the golf ball B is provided on the virtual golf course, so that the virtual golf simulation can be performed.

As shown in FIG. 1, a screen golf system to which a virtual golf simulation apparatus according to an embodiment of the present invention is applied may be configured to have a structure in which a hitting table 110 is disposed on the ground of a golf room 2 that provides a space of a preset size. And the user hits the golf ball B on the hitting table 110, the hitting pad 120 is disposed on one side of the hitting table 110, and the golf ball B is placed on the hitting pad 120 so that the user can hit the ball The golf ball B is tapped on the table 110, and the screen 3 is placed in front of the golf room 2, and the virtual golf simulation image output from the image output device (the image output unit 30 shown in Fig. 2, such as a beam projector) is Projected onto the screen 3, and image information is transmitted from the simulator 1 to the image output device.

The ball table 110 and the ball striking pad 120 are provided on the blade 100 shown in Fig. 1. Alternatively, the hitting table 110 and the ball striking pad 120 may be disposed on the ground of the golf room 2.

The blade 100 can be set such that the blade 100 can be tilted by a predetermined angle in the forward and backward directions as well as in the left and right directions. Moreover, the blade 100 can be coupled to the simulator 1 such that the blade 100 can be tilted corresponding to the terrain of the currently implemented virtual golf course.

Meanwhile, as shown in Fig. 1, the sensing device S is disposed in the golf room 2 to sense the golf ball B that the user taps.

That is, as shown in FIG. 2, the sensing device S includes a photographing unit 50 and a sensing processing sheet. The photo unit 50 includes a plurality of cameras 51 and 52, and the sensing processing unit 60 is configured to process the image obtained by the photographing unit 50, thereby extracting the physical characteristics of the moving golf ball.

The photographing unit 50 can be constituted by a single camera or more cameras for image sensing. In order to obtain an image of the mobile golf ball B and extract the coordinates of the golf ball in three-dimensional space, it is preferable to configure a stereoscopic image unit using two or more cameras 51 and 52 that are cooperatively coupled to each other, such as the first The figure shows.

The physical characteristics of the moving golf ball may include the speed of the golf ball, the moving direction of the golf ball (the moving angle of the golf ball in the horizontal direction), the height of the golf ball (the moving angle of the golf ball in the vertical direction), and the rotation of the golf ball.

The sensing processing unit 60 may include a gripper 71, a ball striking detector 72, a golf ball image processing device 80, and a golf club image processing device 90, wherein the gripper 71 sequentially collects photos on a per frame basis. Like the image obtained by the unit 50, the shot detector 72 is configured to receive and process the frame image collected by the gripper 71 to sense whether the shot preparation has been completed and whether the shot has been performed by the user. The ball image processing device 80 is configured to process the image received from the ball striking detector 72 when the ball striking detector 72 senses that the golf ball has been tapped by the user, thereby extracting information on the physical characteristics of the moving golf ball. The golf club image processing device 90 is configured to analyze the movement trajectory of the golf club from the image received by the shot detector 72, thereby extracting information on the golf ball rotation.

Moreover, the sensing processing unit 60 further includes a converting device 73 for matching the images obtained by the cameras 51 and 52, thereby converting the two-dimensional information of each camera image (the information extracted from each camera is Two-dimensional information) into three-dimensional information, or conversely, converting three-dimensional information extracted from a plurality of camera images into two-dimensional information.

Meanwhile, the simulator 1 constituting the virtual golf simulation apparatus according to the embodiment of the present invention preferably includes a controller M, a data library 10, a material processing unit 20, and an image output unit 30.

The database 10 stores all the materials necessary for the virtual golf simulation. For example, the repository 10 stores the data necessary to drive the system, the information necessary to implement the image of the virtual golf course, and the information necessary to implement the simulated image of the golf course.

The data processing unit 20 is a component that performs preset image processing to implement an image of a virtual golf course or a simulated image of a golf course on a virtual golf course.

The image output unit 30 outputs the image information received from the material processing unit 20 to the screen so that The user can see the image.

The controller M receives information according to the sensing result of the sensing device S to control the operations of all components, such as the database 10 of the simulator 1, the data processing unit 20, and the image output unit 30. That is, the controller M, the data library 10, and the data processing unit 20 function as an image realizing device for realizing a simulated image of the golf ball trajectory according to the sensing result of the sensing device S.

Hereinafter, a more detailed structure of the sensing device S shown in FIG. 2 and functions of the individual elements constituting the sensing device S will be described with reference to FIG.

As shown in FIG. 3, the transmission of information in the sensing device according to the present invention is a photographic unit 50 → a gripper 71 → a shot detector 72 → a golf ball image processing device 80 → a golf club image processing device 90 → The order of the simulator 1 is performed.

The photographing unit 50 photographs a preset range including a portion where the hitting table and the hitting pad are provided to obtain hundreds of frame images per second.

The obtained frame image is transmitted to the gripper 71. The gripper 71 stores the image received from the photographing unit 50 and simultaneously transmits the image to the shot detector 72 for image processing.

Preferably, the shot detector 72 looks for the golf ball from the image received by the gripper and determines whether the golf ball meets the preset condition to sense whether the shot preparation has been completed. Moreover, the hitting detector 72 determines whether the high ball is moved from the position where the hitting preparation has been completed, thereby sensing whether the hitting has been performed by the user.

The method of sensing whether the shot preparation has been completed and sensing whether the shot has been performed is not the core of the present invention, and thus the detailed description will be omitted.

Upon sensing that the user has tapped the golf ball, the shot detector 72 stores the image of the golf ball that has been tapped, and the subsequent plurality of frame images. These images are immediately transmitted to the golf image processing device 80 so that the images can be processed by the golf image processing device 80.

In addition, when it is sensed that the user has hit the golf ball, the shot detector 72 also stores a plurality of frame images before the golf ball has been tapped, and transmits the stored image of the frame to the golf ball. Club image processing device 90. The golf club image processing device 90 extracts the image of the golf club from the image received by the shot detector 72 and the image processed by the golf image processing device 80 to drive the dynamic trajectory of the golf club head, thereby estimating the height of the golf ball. Rotate.

The golf image processing device 80 and the golf club image processing device 90 extract Information on the physical characteristics of the golf ball is transmitted to the simulator 1. The simulator 1 outputs a simulated image in which the golf ball is moved on the virtual golf course in accordance with the received information so that the virtual golf simulation can be performed.

The golf image processing apparatus 80 preferably includes a pre-processing apparatus 81 for processing images obtained by the individual cameras to extract a plurality of golf ball candidates, and a template matching apparatus 82, and a template matching apparatus 82 for presetting and processing a golf sample, as a reference image of the golf ball, and for variably matching the extracted golf candidates and the golf model, and extracting the golf ball according to the size of the golf candidates News.

Since the images obtained by each camera contain many kinds of noises similar to golf ball shapes and golf ball images (for example, specific parts of the terrain near the golf ball, a part of the user's body, and the head of the golf club), Therefore, it is necessary to accurately extract the golf ball from the image. To this end, the pre-processing device 81 processes the image to select and extract a plurality of objects that are primarily considered to be golf balls as a golf ball candidate. The template matching device identifies one of the plurality of extracted golf candidates that is most similar to the golf template as a golf ball, and extracts the coordinates of the identified golf ball to calculate the trajectory information of the golf ball.

However, the template matching device does not easily compare the golf ball candidates and the golf ball template. The reason is that the size of the golf ball candidate in one of the frames may be different from the size of the golf ball template in the other frame. As a result, the size of the golf ball in different frames will be different. This is because the shooting area of the camera is fixed, and the distance between the camera and the golf ball changes in the shooting area according to the movement of the golf ball, and as a result, the image of the golf ball is moved in the individual frame. The sizes will be different from each other.

On the other hand, the size and shape of the golf sample are uniformly fixed. If the golf candidate is not changed compared to the golf model, it is not possible to determine how the golf candidate is similar to the golf model, and thus the golf ball cannot be accurately extracted.

To this end, the template matching device estimates the size of the golf ball candidate, and varies the matching golf ball candidate and the golf ball template according to the estimated size of the golf ball candidate, thereby extracting the degree of similarity therebetween, thereby accurately recognizing the golf ball. .

Hereinafter, the image processing performed by the pre-processing apparatus will be described with reference to FIGS. 3 to 5.

First, the pre-processing device 81 (see Fig. 3) is obtained from the camera shown in Fig. 4(a). The image 200 separates the source image 220 shown in Fig. 4(b).

Since the image 200 obtained by the camera contains the entire image of the wide shooting range, it takes a lot of time to process the image 200. For this reason, the necessary areas are extracted, and only the extracted images are processed, thereby reducing the image processing time.

The source image 220 shown in FIG. 4(b) is an image defined as a segment from the point P1 to the point P2 in which the shot has been hit from the image shown in FIG. 4(a), and the point P2 is forward. A predetermined distance from point P2.

That is, when the golf ball is tapped, the golf ball flies to the screen 3 (see Fig. 1). As a result, the analysis of the movement of the golf ball from a point at which the ball has been hit to a point at a predetermined distance from the point at which the hit has been performed is sufficient to calculate information such as the speed, direction and height angle of the golf ball.

The point P2 shown in Fig. 4(a) may be a position corresponding to the screen 3 (see Fig. 1) or a predetermined distance from the screen forward.

Point P1 and point P2 are specified from the image obtained by the camera, and the image corresponding to the segment between the point P1 and the point P2 is separated from the image obtained by the camera to obtain the image shown in FIG. 4(b). Source image.

At the same time, the background should be removed from the source image obtained as described above via a difference operation, as shown in Fig. 5, whereby only golf candidates are obtained. For example, the background image 230 shown in FIG. 5(b) can be removed from the source image 220 shown in FIG. 5(a) via a difference operation to obtain an image having only a moving portion as shown in FIG. 5(c). .

The moving portion of the image extracted by the difference operation is not considered a golf ball. Some moving parts can be noise, such as a part of a golf club head or a part of the user's body.

As a result, the pre-processing device designates the portion of the image 240 obtained by the difference operation as the golf ball as the golf ball candidate in accordance with the geometrical characteristics of the golf ball. For example, a portion of a large width to height ratio is not considered a golf ball, and thus such a portion is excluded. Moreover, portions having one or two pixel sizes are small and are not considered to be golf balls, and thus exclude such portions.

The remainder of the image obtained from the geometrical characteristics of the golf ball is designated as a golf ball candidate. Figure 5(c) shows that the two extracted golf ball candidates C1-1 and C1-2 have been extracted.

One of the series of processing shown in Figures 4 and 5 is performed with respect to the frame image. The golf ball image processing apparatus according to the present invention processes the frame image obtained when the shot has been performed in the image obtained by each camera, and all the frame images obtained after the shot has been performed, through the above processing to extract Golf candidate.

Hereinafter, the image processing performed by the template matching device will be described with reference to FIGS. 3 to 6. Fig. 6(a) is a view showing the golf ball candidates C1-1 to C4-1 of a plurality of frames on the image obtained by combining the plurality of frames, which are processed as shown in Figs. 4 and 5; To extract all the golf ball candidates, and FIG. 6(b) is a schematic diagram showing the golf sample T preset and stored as a reference image of the golf ball.

In Fig. 6(a), the golf ball candidates C1-1 and C1-2 indicate the golf ball candidates extracted from the first frame of the source image, and C2-1 indicates the golf ball candidates extracted from the second frame. C3-1 denotes a golf ball candidate extracted from the third frame, and C4-1 denotes a golf ball candidate extracted from the fourth frame.

The template matching device 82 includes an estimating device 82a, a normalizing device 82b, and a matching device 82c, wherein the estimating device 82a is for estimating a golf ball candidate extracted by the pre-processing device 81 (see the size of FIG. 5(c), the normalizing device 82b is used to normalize the golf ball candidates such that each golf ball candidate has a size corresponding to the golf ball template, and the matching device 82c is used to match the normalized golf ball candidate and the golf ball model to extract the similarity therebetween And looking for golf balls from golf candidates to extract coordinate information.

The estimating means 82a estimates the size of each of the extracted golf candidates in a three-dimensional space. The image obtained by each camera contains two-dimensional information. Therefore, in order to calculate the size of each golf ball candidate in the three-dimensional space, the three-dimensional coordinate information of each golf candidate is extracted via the conversion device 73 (see FIGS. 2 and 3), in the three-dimensional space, each The distance between the golf ball candidate and the corresponding camera is calculated using the extracted three-dimensional coordinate information to estimate the size of each golf candidate.

That is, the estimating means 82a estimates the size of each of the plurality of golf balls C1-1 to C4-1 of the plurality of images shown in Fig. 6(a) in the three-dimensional space using the converting means 73.

As can be seen from Fig. 6(a), the size of each golf ball candidate in the individual frames is different from each other. This phenomenon occurs because the golf ball moves in the shooting area, and as a result, the distance between the camera and the golf ball changes. To this end, the size of the golf candidate in the individual frame uses three The coordinate value of the dimensional space is estimated to change the size of each golf candidate such that the size of each golf candidate is equal to the size of the golf model, or the size of the golf model is changed to make the golf model The size is equivalent to the size of each golf candidate, and the golf candidate determines how similar the golf candidate is to the golf model compared to the golf model, thereby easily finding the real golf ball from the golf candidate. .

The normalization device 82b normalizes each golf candidate such that the size of each golf candidate is equivalent to the golf template T in consideration of the estimated size of each golf candidate estimated by the estimating device 82a. The golf ball template T is sized, or normalized such that the size of the golf template T is equivalent to the size of each golf ball candidate.

The normalization of the golf candidate is a process of deforming the golf candidate image such that the size of the golf candidate is equal to the size of the golf sample T, while maintaining the shape and pixel ratio of the golf candidate image, thereby An easy comparison between golf candidates and golf samples is achieved. On the other hand, the normalization of the golf sample T is a process of deforming the golf sample image such that the size of the golf sample T is equal to the size of the corresponding golf candidate, and the shape of the golf sample image is maintained and Pixel ratio to achieve an easy comparison between golf samples and golf candidates.

When the normalization of the golf ball candidate or the golf ball template is completed via the normalizing device 82b, the matching device 82c compares each of the golf ball candidates and the golf ball template, thereby extracting the degree of similarity therebetween.

The degree of similarity is converted to values determined according to a number of decision criteria, such as overall shape, pixel ratio, and pixel value distribution. When the degree of similarity is equal to or greater than a preset value, one of the corresponding golf ball candidates can be recognized as a "golf ball".

According to the matching result, the coordinate value of the golf ball candidate recognized as the golf ball may be extracted, and the information on the physical characteristics, such as the speed, the direction, and the altitude angle of the golf ball, may be calculated according to the change of the extracted coordinate value.

Hereinafter, a sensing method for virtual golf simulation according to an embodiment of the present invention will be described with reference to FIG.

First, when the virtual golf simulation begins, the user places the golf ball on the batting pad so that the user can tap the golf ball. At this time, the sensing device obtains the Gower placed on the batting pad. The image of the ball and the search for the golf ball from the obtained image (S10). This golf ball search process is performed by a shot detector.

The golf ball is found from the obtained image, and the information on the coordinates of the golf ball is confirmed. If the preset condition is satisfied, the shot preparation is completed (S11).

Upon completion of the shot preparation, the shot detector starts sensing whether the shot has been made by the user (S12). When it is sensed that the hitting has been performed (S20), the hitting detector confirms when the hitting has been performed, collects the frame image when the hitting has been performed, and the subsequent plurality of frame images (S31), and transmits the image The collected frame image is sent to the golf ball image processing device. On the other hand, when it is sensed that the hitting has not been performed, the processing returns to the shot sensing step (S12).

If the shot detector collects the image of the frame and immediately transmits the collected image of the frame to the golf image processing device after sensing that the shot has been performed, the golf image processing device receives from the image The image is separated from the preset area to extract the source image (S32).

Next, the golf ball image processing apparatus removes the background image from the extracted source image (S33) to extract a plurality of golf ball candidates (S34).

A plurality of camera images are matched with the extracted golf candidates to obtain three-dimensional coordinate information, and the distance between the cameras and the corresponding golf candidates, such as the camera, and the corresponding golf candidates are extracted from the three-dimensional coordinate information. Information to estimate the size of each golf candidate (S40).

These golf candidates or golf templates are normalized in consideration of the estimated size of each golf candidate (S50).

After normalization, the golf ball candidates match the golf ball template (S61).

Then, the degree of similarity between the golf ball candidates and the golf ball template is converted and calculated as a numerical value (S62).

If the degree of similarity calculated between each golf candidate and the golf sample is less than a preset value, the corresponding golf candidate is not regarded as a golf ball and thus excluded (S63). On the other hand, if the degree of similarity calculated between each golf candidate and the golf sample is equal to or greater than a preset value, the corresponding golf candidate is regarded as a golf ball, and the corresponding golf is extracted The coordinates of the ball candidate (S64).

In this manner, a golf ball candidate having a degree of similarity equal to or greater than a preset value in an individual frame is recognized as a golf ball, and a coordinate value of the corresponding golf ball is extracted, and The coordinate values of the extracted golf balls are linked to each other to calculate the trajectory of the golf ball (S65).

The calculated golf ball track is implemented by the simulator 1 as an analog image (S70).

As is apparent from the above description, in the virtual golf simulation device and the sensing device and method therefor, in which the virtual golf simulation is used, the image of the golf ball hit by the user who swings the golf club to hit the golf ball is obtained, And finding a moving track of the golf ball from the obtained image, thereby realizing a simulated image of the golf ball track, in particular, wherein the golf ball is easily and accurately extracted from the image to accurately calculate the trajectory of the golf ball, thereby solving the problem The problem that the size of the golf ball on the image obtained by the camera is changed makes it difficult to extract the golf ball.

The above is only a preferred embodiment for explaining the present invention, and is not intended to limit the present invention in any way, and any modifications or alterations to the present invention made in the spirit of the same invention. All should still be included in the scope of the intention of the present invention.

1‧‧‧ Simulator

2‧‧‧ Golf Room

3‧‧‧ screen

10‧‧‧Database

20‧‧‧Data Processing Department

30‧‧‧Image output department

50‧‧‧Photographic unit

51‧‧‧Photographing device

52‧‧‧Photographing device

60‧‧‧Sensing processing unit

71‧‧‧ Grabber

72‧‧‧Ball detector

73‧‧‧ Conversion device

80‧‧‧Golf image processing device

81‧‧‧Pre-treatment device

82‧‧‧Model matching device

82a‧‧‧ Estimation device

82b‧‧‧Regularized device

82c‧‧‧Material device

90‧‧‧Golf club image processing device

100‧‧‧Battering board

110‧‧‧ hitting table

120‧‧‧Battering pad

200‧‧‧ images

220‧‧‧ source image

230‧‧‧ Background image

240‧‧‧ images

B‧‧‧ Golf

C1-1~C4-1‧‧‧Golf candidates

M‧‧‧ controller

P1, P2‧‧ points

S‧‧‧Sensing device

S10~S20‧‧‧Steps

S31~S70‧‧‧Steps

T‧‧‧ golf sample

The above and other objects, features and other advantages of the present invention will become more apparent from 2 is a block diagram showing the structure of a virtual golf simulation device according to an embodiment of the present invention; and FIG. 3 is a view showing the detailed structure of the sensing device of FIG. 2 and the functions of components constituting the sensing device. Fig. 4(a) is a schematic diagram showing an image obtained by a photographing unit, and Fig. 4(b) is obtained by separating an area corresponding to a preset section by the image shown in Fig. 4(a). Schematic diagram of the source image; Figure 5 (a) is a schematic diagram showing the source image, Figure 5 (b) is a schematic diagram showing the still background image, and Figure 5 (c) is a diagram showing the removal of the background image by the source image. A schematic diagram of the obtained image; FIG. 6(a) is a view showing the golf ball candidates C1-1 to C4-1 of the plurality of frames on the image obtained by combining the plurality of frames, which are as shown in FIG. 4 and 5 shows the process to extract all a golf ball candidate, and FIG. 6(b) is a schematic view showing a golf sample T preset and stored as a reference image of a golf ball; and FIG. 7 is a view showing a virtual golf ball according to an embodiment of the present invention. Flow of sensing method of the simulation device Cheng Tu.

1‧‧‧ Simulator

50‧‧‧Photographic unit

71‧‧‧ Grabber

72‧‧‧Ball detector

73‧‧‧ Conversion device

80‧‧‧Golf image processing device

81‧‧‧Pre-treatment device

82‧‧‧Model matching device

82a‧‧‧ Estimation device

82b‧‧‧Regularized device

82c‧‧‧Material device

90‧‧‧Golf club image processing device

Claims (12)

A sensing device for a virtual golf simulation device, comprising: a photographic unit for obtaining a plurality of frame images of a golf ball that a user swings a golf club to strike a golf ball; and a sensing process The unit includes a pre-processing device and a same board matching device for processing the images obtained by the photographing unit, thereby extracting a plurality of golf ball candidates, and the template matching device is used for presetting and storing A golf sample is used as a reference image of the golf ball, and according to the size of each golf candidate, the selected golf candidates and the golf sample are matched and changed to extract the information of the golf ball. A sensing device for a virtual golf simulation device according to claim 1, wherein the pre-processing device is configured to extract the golf ball candidates from a source image by using the camera image Each of the images obtained by the unit is separated by an image of a predetermined segment, and the preset segment is started by a point at which the shot has been made. A sensing device for a virtual golf simulation device according to claim 1, wherein the template matching device is configured to estimate a size of each golf ball candidate, thereby processing each golf ball candidate such that each The size of the golf ball candidate corresponds to the size of the golf ball template and matches each golf ball candidate and the golf ball template. A sensing device for a virtual golf simulation device according to claim 1, wherein the template matching device is configured to estimate a size of each golf ball candidate, thereby processing the golf ball template such that the golf ball template The size corresponds to the size of each golf candidate and matches each golf candidate and the golf sample. The sensing device for a virtual golf simulation device according to claim 1, wherein the photographic unit comprises a plurality of cameras cooperatively coupled to each other for obtaining a plurality of frame images; and the sensing The processing unit further includes a conversion device for matching the image obtained by the individual camera, thereby converting the two-dimensional information into three-dimensional information, or conversely converting the three-dimensional information into two-dimensional information. A sensing device for a virtual golf simulation device according to claim 5, wherein the template matching device comprises: an estimating device for extracting three-dimensional information of the golf candidates extracted through the conversion device Estimating the size of each golf candidate; a normalization device for normalizing the golf candidates such that each golf candidate has a size corresponding to the golf sample; and a matching device, The golf ball candidates for matching normalization and the golf ball template are used to extract the degree of similarity therebetween, and are used to find golf balls from the golf ball candidates, thereby extracting coordinate information. A sensing device for a virtual golf simulation device according to claim 5, wherein the template matching device comprises: an estimating device for extracting three-dimensional information of the golf candidates extracted through the conversion device Estimating the size of each golf candidate; a normalization device for normalizing the golf model such that the size of the golf template corresponds to an estimated size of each golf candidate; and a matching device For matching the golf candidates and the normalized golf sample, to extract the degree of similarity therebetween, and to find golf balls from the golf candidates, thereby extracting coordinate information. A virtual golf simulation device includes: a sensing device, including a photographic unit and a sensing processing unit, the photographic unit is configured to obtain a plurality of golf balls that a user swings a golf club to strike a golf ball a frame image, and the sensing processing unit includes a pre-processing device and a same board matching device, the pre-processing device is configured to process the images obtained by the camera unit, thereby extracting a plurality of golf ball candidates, and the The template matching device is configured to preset and store a golf sample as a reference image of the golf ball, and according to the size of each golf candidate, the matching matches the extracted golf candidates and the golf sample To extract information about the golf ball; An image realizing device is configured to implement an analog image of the trajectory of the golf ball according to the information extracted by the sensing processing unit. A sensing method for virtual golf simulation, comprising: obtaining a plurality of frame images of a golf ball that a user swings a golf club to strike a golf ball; and processing the obtained images to extract a plurality of golf balls a candidate; and according to the size of each golf candidate, the matching matches the extracted golf candidates and a golf model, the golf template is preset and stored to serve as a reference image of the golf ball In order to extract information about golf balls. The sensing method for virtual golf simulation according to claim 9, wherein the extracting the plurality of golf candidate systems comprises: separating an image of a predetermined segment from each of the obtained images, The preset section starts from a point where the hitting has been performed to obtain a source image; removes a background image from the source image via a difference operation; and removes the image from the difference operation according to the geometrical characteristics of the golf ball It is considered not an image of a golf ball. The sensing method for virtual golf simulation according to claim 9, wherein the step of obtaining the plurality of frame images comprises using a plurality of cameras to obtain a plurality of frames; and the variation matching is extracted The steps of the golf candidate and the golf sample include: matching the images obtained by the camera with respect to the extracted golf candidates to estimate the size of each golf candidate; Normalizing the golf candidate, and the size of each golf candidate has been estimated such that each golf candidate has a size corresponding to the golf sample; and matching the normalized golf candidates and The golf sample is used to extract the similarity between them. The sensing method for virtual golf simulation according to claim 9, wherein the step of obtaining the plurality of frame images comprises obtaining a plurality of frames using a plurality of cameras; and extracting the changes The steps of the golf ball candidate and the golf sample include: matching the images obtained by the camera with respect to the extracted golf candidates to estimate the size of each golf candidate; The golf template is sized such that the size of the golf template corresponds to the size of each golf candidate; and the golf candidates and the normalized golf sample are matched to extract the degree of similarity therebetween.