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

Virtual golf simulation apparatus and sensing device and method used for the same Download PDF

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TWI453056B
TWI453056B TW101110003A TW101110003A TWI453056B TW I453056 B TWI453056 B TW I453056B TW 101110003 A TW101110003 A TW 101110003A TW 101110003 A TW101110003 A TW 101110003A TW I453056 B TWI453056 B TW I453056B
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golf ball
candidate
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TW201244790A (en
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Hyung Wook Jang
Hyun Jin Park
Hyung Sik Yoon
Hyun Dam Jeong
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Golfzon Co Ltd
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    • AHUMAN NECESSITIES
    • A63SPORTS; GAMES; AMUSEMENTS
    • A63BAPPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
    • A63B69/00Training appliances or apparatus for special sports
    • A63B69/36Training appliances or apparatus for special sports for golf
    • AHUMAN NECESSITIES
    • A63SPORTS; GAMES; AMUSEMENTS
    • A63BAPPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
    • A63B69/00Training appliances or apparatus for special sports
    • A63B69/36Training appliances or apparatus for special sports for golf
    • A63B69/3623Training appliances or apparatus for special sports for golf for driving
    • GPHYSICS
    • G06COMPUTING; CALCULATING OR COUNTING
    • G06TIMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00Image analysis
    • G06T7/70Determining position or orientation of objects or cameras
    • G06T7/73Determining position or orientation of objects or cameras using feature-based methods
    • G06T7/74Determining position or orientation of objects or cameras using feature-based methods involving reference images or patches
    • GPHYSICS
    • G09EDUCATION; CRYPTOGRAPHY; DISPLAY; ADVERTISING; SEALS
    • G09BEDUCATIONAL OR DEMONSTRATION APPLIANCES; APPLIANCES FOR TEACHING, OR COMMUNICATING WITH, THE BLIND, DEAF OR MUTE; MODELS; PLANETARIA; GLOBES; MAPS; DIAGRAMS
    • G09B19/00Teaching not covered by other main groups of this subclass
    • G09B19/003Repetitive work cycles; Sequence of movements
    • G09B19/0038Sports
    • GPHYSICS
    • G09EDUCATION; CRYPTOGRAPHY; DISPLAY; ADVERTISING; SEALS
    • G09BEDUCATIONAL OR DEMONSTRATION APPLIANCES; APPLIANCES FOR TEACHING, OR COMMUNICATING WITH, THE BLIND, DEAF OR MUTE; MODELS; PLANETARIA; GLOBES; MAPS; DIAGRAMS
    • G09B9/00Simulators for teaching or training purposes
    • AHUMAN NECESSITIES
    • A63SPORTS; GAMES; AMUSEMENTS
    • A63BAPPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
    • A63B2220/00Measuring of physical parameters relating to sporting activity
    • A63B2220/70Measuring or simulating ambient conditions, e.g. weather, terrain or surface conditions
    • AHUMAN NECESSITIES
    • A63SPORTS; GAMES; AMUSEMENTS
    • A63BAPPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
    • A63B69/00Training appliances or apparatus for special sports
    • GPHYSICS
    • G06COMPUTING; CALCULATING OR COUNTING
    • G06TIMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2207/00Indexing scheme for image analysis or image enhancement
    • G06T2207/10Image acquisition modality
    • G06T2207/10016Video; Image sequence
    • G06T2207/10021Stereoscopic video; Stereoscopic image sequence
    • GPHYSICS
    • G06COMPUTING; CALCULATING OR COUNTING
    • G06TIMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2207/00Indexing scheme for image analysis or image enhancement
    • G06T2207/30Subject of image; Context of image processing
    • G06T2207/30221Sports video; Sports image
    • G06T2207/30224Ball; Puck

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  • Engineering & Computer Science (AREA)
  • Theoretical Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • Physical Education & Sports Medicine (AREA)
  • General Health & Medical Sciences (AREA)
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  • Image Processing (AREA)
  • Processing Or Creating Images (AREA)

Description

虛擬高爾夫模擬裝置及其使用之感測裝置與感測方法Virtual golf simulation device and sensing device and sensing method therefor

本發明係有關於一種虛擬高爾夫模擬裝置及其使用之感測裝置與感測方法,尤其是一種其中虛擬高爾夫球場被成像並模擬且使用者所敲擊之高爾夫球的軌跡被感測裝置感測並在虛擬高爾夫球場上模擬的虛擬高爾夫模擬裝置,以及其使用之感測裝置與感測方法。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.

近年來,已開發出許多裝置,在室內或在特定地方經由模擬而以互動運動遊戲的形式,讓使用者享受到受歡迎的運動遊戲,比如棒球、足球、籃球及高爾夫。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.

尤其是近年來,已經開發出所謂的螢幕高爾夫系統,其中當使用者揮動高爾夫球桿以敲擊安置於擊球墊上的高爾夫球時,感測器感測被敲擊的高爾夫球以抽取出移動之高爾夫球上的物理資訊,使得高爾夫球的軌跡能在虛擬高爾夫球場上被模擬,藉以讓使用者能享受到虛擬實境中的高爾夫。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.

為了在這類互動運動遊戲中模擬使用比如高爾夫球之球類的運動,許多研究已經被導入到許多感測系統,用於精確感測移動之高爾夫球上的物理資訊,亦即高爾夫球的移動。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. .

例如,許多感測裝置,比如使用紅外線感測器的感測裝置、使用雷射感測器的感測裝置、使用聲波感測器的感測裝置以及使用照像感測器的感測裝置,都已經推出到市場上。許多研究已經被導入照像感測器型的感測裝置,用於獲得並分析移動高爾夫球的影像,藉以精確感測移動高爾夫球的狀態。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.

然而,照像機的拍攝區域是固定,且照像機是在固定拍攝區域內獲得移動高爾夫球的影像,其結果是當高爾夫球移動,影像中高爾夫球的大小逐漸地改變。為此,很難從雜訊中區分出高爾夫球。尤其是,當使用具有低性能的照像機時,很難在照像機所獲得的影像中找尋高爾夫球,因而很難精確計算高爾夫球的軌跡。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.

因此,本發明是著眼於上述問題而產生,並且本發明的目的在提供一種虛擬高爾夫模擬裝置,其中使用虛擬高爾夫模擬,獲得使用者揮動高爾夫球桿敲擊高爾夫球所敲擊之高爾夫球的影像,以及從所獲得的影像找尋高爾夫球,計算高爾夫球的移動軌跡,藉以實現高爾夫球軌跡的模擬影像,尤其是其中高爾夫球很容易且精確地從影像中抽取,以精確計算高爾夫球的軌跡,藉以解決照像機所獲得之影像上高爾夫球的大小改變而很難抽取高爾夫球的問題,並揭示其使用的感測裝置與感測方法。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.

依據本發明的特點,上述及其他目的可藉提供一種用於虛擬高爾夫模擬裝置的感測裝置而完成,該感測裝置包括:一照像單元,用於獲得使用者揮動高爾夫球桿敲擊高爾夫球所敲擊之高爾夫球的複數個圖框影像;以及一感測處理單元,包括一預先處理裝置以及一樣板匹配裝置,該預先處理裝置用於處理該照像單元獲得的該等影像,藉以抽取多個高爾夫球候選者,而該樣板匹配裝置用於預設並儲存一高爾夫球樣板,當作高爾夫球的一參考影像,並依據每個高爾夫球候選者的大小,變動匹配所抽取的該等高爾夫球候選者以及該高爾夫球樣板,藉以抽取高爾夫球的資訊。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.

依據本發明的另一特點,提供一種虛擬高爾夫模擬裝置,包括一感測裝置,該感測裝置包括:一照像單元,用於獲得使用者揮動高爾夫球桿敲擊高爾夫球所敲擊之高爾夫球的複數個圖框影像、以及一感測處理單元,包括一預先處理裝置以及一樣板匹配裝置,該預先處理裝置用於處理該照像單元獲得的該等影像,藉以抽取多個高爾夫球候選者,而該樣板匹配裝置用於預設並儲存一高爾夫球樣板,當作高爾夫球的一參考影像,並依據每個高爾夫球候選者的大小,變動匹配所抽取的該等高爾夫球候選者以及該高爾夫球樣板,藉以抽取高爾夫球的資訊;以及一影像實現裝置,用於依據該感測處理單元所抽取的資訊,實現該高爾夫球之軌跡的模擬影像。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.

依據本發明的又一特點,提供一種用於虛擬高爾夫模擬的感測方法,包括:獲得使用者揮動高爾夫球桿敲擊高爾夫球所敲擊之高爾夫球的複數個圖框影像;處理獲得的該等影像,以抽取多個高爾夫球候選者;以及依據每個高爾夫球候選者的大小,變動匹配所抽取之該等高爾夫球候選者和一高爾夫球樣板,該高爾夫球樣板係被預設及儲存以當作高爾夫球的一參 考影像,藉以抽取高爾夫球的資訊。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.

現在,將參考所附圖式詳細說明依據本發明虛擬高爾夫模擬裝置及方法以及其使用之感測裝置與感測方法的示範性實施例。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.

首先,將參考第1圖及第2圖說明依據本發明實施例的虛擬高爾夫模擬裝置以及其使用的感測裝置。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.

第1圖是顯示依據本發明實施例虛擬高爾夫模擬裝置所應用之螢幕高爾夫系統實例的示意圖,而第2圖是顯示第1圖中螢幕高爾夫系統所應用之虛擬高爾夫模擬裝置的結構的方塊圖。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.

如第1圖及第2圖所示,依據本發明實施例的虛擬高爾夫模擬裝置包括用於感測使用者所敲擊的高爾夫球B的感測裝置S、以及用於實現虛擬高爾夫球場之影像並依據感測裝置S的感測結果在虛擬高爾夫球場上提供高爾夫球B之軌跡的模擬影像的模擬器1,以使得虛擬高爾夫模擬能進行。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.

如第1圖所示,依據本發明實施例的虛擬高爾夫模擬裝置所應用之螢幕高爾夫系統可配置成具有一種結構,其中擊球台110設置在提供預設大小的空間之高爾夫室2的地面上,而使用者是在擊球台110上敲擊高爾夫球B,擊球墊120設置在擊球台110的一側,而高爾夫球B安置在擊球墊120上以使得使用者能在擊球台110上敲擊高爾夫球B,以及螢幕3設置在高爾夫室2的前方,從影像輸出裝置(第2圖中所示的影像輸出部30,比如光束投影機)輸出的虛擬高爾夫模擬之影像被投影到螢幕3上,而影像資訊是從模擬器1傳送至影像輸出裝置。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.

擊球台110及擊球墊120設置在第1圖所示的擊球板100上。另一方式是,擊球台110及擊球墊120可設置在高爾夫室2的地面上。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.

可設置擊球板100以使得擊球板100能在向前及向後的方向上以及在左邊及右邊方向上傾斜預設角度。而且,擊球板100可連結至模擬器1,以使得擊球板100可對應於目前實現的虛擬高爾夫球場的地形而傾斜。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.

同時,如第1圖所示,感測裝置S設置在高爾夫室2內,以感測使用者所敲擊的高爾夫球B。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.

亦即,如第2圖所示,感測裝置S包括照像單元50以及感測處理單 元60,照像單元50包含有複數個照像機51及52,而感測處理單元60用於處理照像單元50所獲得的影像,藉以抽取移動高爾夫球的物理特性。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.

照像單元50可由用於影像感測的單一照像機或更多個照像機而構成。為了獲得移動高爾夫球B的影像並抽取高爾夫球在三維空間的座標,較佳的是配置使用二個或更多個相互協同連結之照像機51及52的立體型照像單元,如第1圖所示。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.

移動高爾夫球之物理特性可包括高爾夫球的速度、高爾夫球的移動方向(高爾夫球在水平方向的移動角度)、高爾夫球的高度(高爾夫球在垂直方向的移動角度)以及高爾夫球的旋轉。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.

感測處理單元60可包括抓取器71、擊球偵測器72、高爾夫球影像處理裝置80以及高爾夫球桿影像處理裝置90,其中抓取器71以每個圖框為基礎依序收集照像單元50所獲得的影像,擊球偵測器72用於接收並處理抓取器71所收集的圖框影像,藉以感測擊球準備是否已經完成且擊球是否已經由使用者進行,高爾夫球影像處理裝置80用於在擊球偵測器72感測到高爾夫球已經被使用者敲擊時,處理從擊球偵測器72接收的影像,藉以抽取移動高爾夫球之物理特性上的資訊,而高爾夫球桿影像處理裝置90用於從擊球偵測器72接收的影像,分析高球桿的移動軌跡,藉以抽取高爾夫球旋轉上的資訊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.

而且,感測處理單元60進一步包括轉換裝置73,用於匹配照像機51及52所獲得的影像,藉以轉換每個照像機影像的二維資訊(從每個照像機抽取的資訊是二維資訊)成三維資訊,或相反地,將匹配複數個找像機影像所抽取的的三維資訊轉換成二維資訊。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.

同時,構成依據本發明實施例虛擬高爾夫模擬裝置的模擬器1較佳地包括控制器M、資料庫10、資料處理部20以及影像輸出部30。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.

資料庫10儲存虛擬高爾夫模擬必要的所有資料。例如,資料庫10儲存驅動系統所必要的資料、實現虛擬高爾夫球場之影像所必要的資料,以及實現高爾夫球軌跡之模擬影像所必要的資料。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.

資料處理部20是進行預設影像處理以實現虛擬高爾夫球場之影像或虛擬高爾夫球場上高爾夫球軌跡之模擬影像的部件。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.

影像輸出部30輸出從資料處理部20接收的影像資訊到螢幕,以使得 使用者能看到影像。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.

控制器M依據感測裝置S的感測結果接收資訊,以控制所有元件的操作,比如模擬器1的資料庫10、資料處理部20以及影像輸出部30。亦即,控制器M、資料庫10以及資料處理部20的功能如同影像實現裝置,用於依據感測裝置S的感測結果實現高爾夫球軌跡之模擬影像。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.

下文中,將參考第3圖說明第2圖所示感測裝置S的更加詳細結構以及構成感測裝置S之個別元件的功能。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.

如第3圖所示,依據本發明感測裝置中資訊的傳送是以照像單元50→抓取器71→擊球偵測器72→高爾夫球影像處理裝置80→高爾夫球桿影像處理裝置90→模擬器1的次序來進行。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.

照像單元50拍攝預設範圍,包括設置有擊球台及擊球墊的部分,以獲得每秒數百圖框影像。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.

所獲得圖框影像傳送至抓取器71。抓取器71儲存從照像單元50接收的影像,並同時傳送影像至擊球偵測器72,以進行影像處理。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.

較佳地,擊球偵測器72從抓取器接收的影像找尋高爾夫球,並決定高爾夫球是否滿足預設條件,以感測擊球準備是否已經完成。而且擊球偵測器72決定高球是否從擊球準備已經完成的位置上移動,藉以感測擊球是否已經由使用者進行。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.

感測擊球準備是否已經完成以及感測擊球是否已經進行的擊球偵測器72之方法,並不是本發明的核心,因而詳細說明將省略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.

在感測到使用者已經敲擊高爾夫球時,擊球偵測器72會儲存高爾夫球已經被敲擊時的影像、以及之後的複數個圖框影像。這些影像被即時傳送至高爾夫球影像處理裝置80,以使得該等影像能被高爾夫球影像處理裝置80處理。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.

此外,在感測到使用者已經敲擊高爾夫球時,擊球偵測器72也會儲存高爾夫球已經被敲擊之前的複數個圖框影像,並傳送所儲存的該等圖框影像至高爾夫球桿影像處理裝置90。高爾夫球桿影像處理裝置90從擊球偵測器72接收的影像以及高爾夫球影像處理裝置80所處理的影像,抽取高爾夫球桿的影像,以驅動高爾夫球桿頭的動軌跡,藉以估計高球的旋轉。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.

高爾夫球影像處理裝置80以及高爾夫球桿影像處理裝置90所抽取的 高爾夫球之物理特性上的資訊被傳送至模擬器1。模擬器1輸出模擬影像,其中高爾夫球是依據所接收的資訊而在虛擬高爾夫球場上移動,以使得虛擬高爾夫模擬可進行。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.

高爾夫球影像處理裝置80較佳地包括預先處理裝置81以及樣板匹配裝置82,其中預先處理裝置81用於處理個別照像機所獲得之影像,以抽取多個高爾夫球候選者,而樣板匹配裝置82用於預設並處理高爾夫球樣板,當作高爾夫球的參考影像,並用於變動匹配所抽取的該等高爾夫球候選者以及高爾夫球樣板,依據該等高爾夫球候選者的大小抽取高爾夫球的資訊。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.

既然每個照像機所獲得的影像包含許多種具有類似高爾夫球形狀及高爾夫球影像的雜訊(例如,高爾夫球附近地形的特定部分、使用者身體的一部分以及高爾夫球桿的頭部),所以必需從影像精確抽取高爾夫球。為此,預先處理裝置81處理影像以選取並抽取主要被視為高爾夫球的多個物件,當作高爾夫球候選者。樣板匹配裝置辨識所抽取之多個高爾夫球候選者中最相似於高爾夫球樣板的其中之一以當作高爾夫球,並抽取所辨識之高爾夫球的座標,以計算高爾夫球的軌跡資訊。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.

然而,樣板匹配裝置不容易比較該等高爾夫球候選者以及高爾夫球樣板。理由是,某一圖框中高爾夫球候選者的大小可不同於另一圖框中高爾夫球樣板的大小。結果,不同圖框中高爾夫球的大小會不同。這是因為,照像機的拍攝區域是固定,而照像機與高爾夫球之間的距離在拍攝區域內是依據高爾夫球的移動而改變,其結果是,個別圖框中移動高爾夫球的影像之大小會相互不同。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.

另一方面,高爾夫球樣板的大小及形狀是均一固定。如果高爾夫球候選者與高爾夫球樣板比較而沒有改變,因而不能決定高爾夫球候選者如何相似於高爾夫球樣板,並因此不能精確抽取高爾夫球。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.

為此,樣板匹配裝置估計高爾夫球候選者的大小,並依據所估計的高爾夫球候選者的大小,變動匹配高爾夫球候選者以及高爾夫球樣板,藉以抽取其間的相似程度,因而能精確辨識高爾夫球。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. .

下文中,將參考第3圖至第5圖說明預先處理裝置所進行的影像處理。Hereinafter, the image processing performed by the pre-processing apparatus will be described with reference to FIGS. 3 to 5.

首先,預先處理裝置81(見第3圖)從第4圖(a)所示之由照像機獲得的 影像200分離第4圖(b)所示之來源影像220。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).

既然照像機獲得的影像200包含寬拍攝範圍的整個影像,所以要發費很多時間處理影像200。為此,必要的區域被抽取,且只有被抽取的影像被處理,藉以降低影像處理時間。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.

第4圖(b)所示的來源影像220是定義成從第4圖(a)所示的影像中已經進行擊球的點P1到點P2範圍的區段之影像,而點P2是向前離點P2一段預設距離。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.

亦即,當高爾夫球被敲擊時,高爾夫球飛向螢幕3(見第1圖)。結果,分析高爾夫球從已經進行擊球的一點到離已經進行擊球的該點向前相距一段預設距離的移動,藉以足夠計算資訊,比如高爾夫球的速度、方向及高度角。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.

第4圖(a)所示的點P2可為對應於螢幕3(見第1圖)的位置或離螢幕向前一段預設距離的位置。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.

點P1及點P2從照像機所獲得的影像來指定,且對應於點P1及點P2之間區段的影像從照像機所獲得的影像分離,以獲得第4圖(b)所示之來源影像。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.

同時,背景應像是經由差異操作,從上述所獲得的來源影像移除,如第5圖所示,藉以只獲得高爾夫球候選者。例如,第5圖(b)所示的背景影像230可經由差異操作從第5圖(a)所示的來源影像220移除,以獲得第5圖(c)所示只具有移動部分的影像。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). .

經差異操作所抽取之影像的移動部分不被視為高爾夫球。某些移動部分會是雜訊,比如高爾夫球桿頭的一部分或使用者身體的一部分。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.

結果,預先處理裝置依據高爾夫球的幾何特性,將經差異操作所獲得取之影像240中被視為高爾夫球的部分指定為高爾夫球候選者。例如,大的寬度高度比的部分是不被視為高爾夫球,並因而排除這類的部分。而且,具有一個或二個像素大小的部分是很小,不被視為高爾夫球,並因而排除這類的部分。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.

依據高爾夫球幾何特性所獲得影像的剩餘部分被指定為高爾夫球候選者。第5圖(c)顯示二個被抽取的高爾夫球候選者C1-1及C1-2已經被抽取。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.

第4圖及第5圖所示之一系列處理是相對於圖框影像來進行。依據本發明的高爾夫球影像處理裝置處理每個照像機所獲得影像中擊球已經進行時所獲得之圖框影像、以及擊球已經進行之後所獲得的所有圖框影像,經由上述處理以抽取高爾夫球候選者。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.

下文中,將參考第3圖至第6圖說明樣板匹配裝置所進行的影像處理。第6圖(a)是顯示藉結合多個圖框所獲得之影像上多個圖框的高爾夫球候選者C1-1至C4-1,其等如第4圖及第5圖所示之處理以抽取所有高爾夫球候選者,而第6圖(b)是顯示預設並儲存以當作高爾夫球之參考影像的高爾夫球樣板T的示意圖。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.

在第6圖(a)中,高爾夫球候選者C1-1及C1-2表示從來源影像的第一圖框抽取的高爾夫球候選者,C2-1表示從第二圖框抽取的高爾夫球候選者,C3-1表示從第三圖框抽取的高爾夫球候選者,二C4-1表示從第四圖框抽取的高爾夫球候選者。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.

樣板匹配裝置82包括估計裝置82a、正規化裝置82b以及匹配裝置82c,其中估計裝置82a用於估計預先處理裝置81所抽取之高爾夫球候選者(見第5圖(c)的大小,正規化裝置82b用於正規化高爾夫球候選者,使得每個高爾夫球候選者具有對應於高爾夫球樣板的大小,而匹配裝置82c用於匹配正規化高爾夫球候選者以及高爾夫球樣板,以抽取其間的相似程度,並從高爾夫球候選者找尋高爾夫球,以抽取座標資訊。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.

估計裝置82a在三維空間中估計被抽取之每個高爾夫球候選者的大小。每個照像機所獲得影像包含二維資訊。因此,為了計算三維空間中每個高爾夫球候選者的大小,每個高爾夫球候選者的三維座標資訊經由轉換裝置73(見第2圖及第3圖)來抽取,在三維空間中,每個高爾夫球候選者以及相對應照像機之間的距離使用所抽取的三維座標資訊來計算,藉以估計每個高爾夫球候選者的大小。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.

亦即,估計裝置82a使用轉換裝置73估計三維空間中第6圖(a)所示之多個影像的每個高爾夫球候選者C1-1至C4-1的大小。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.

可從第6圖(a)看出,個別圖框中每個高爾夫球候選者的大小是彼此不同。發生這種現象是因為高爾夫球在拍攝區中移動,結果,照像機以及高爾夫球之間的距離改變。為此,個別圖框中高爾夫球候選者的大小使用三 維空間的座標數值來估計,藉以改變每個高爾夫球候選者的大小,使得每個高爾夫球候選者的大小是等同於高爾夫球樣板的大小,或改變高爾夫球樣板的大小以使得高爾夫球樣板的大小是等同於每個高爾夫球候選者的大小,而且高爾夫球候選者與高爾夫球樣板比較,決定高爾夫球候選者對高爾夫球樣板的相似程度如何,藉以從高爾夫球候選者輕易找尋真實的高爾夫球。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. .

正規化裝置82b考慮到藉估計裝置82a所估計的每個高爾夫球候選者的估計大小,而正規化每個高爾夫球候選者以使得每個高爾夫球候選者的大小是等同於高爾夫球樣板T的大小,或正規化高爾夫球樣板T以使得高爾夫球樣板T的大小是等同於每個高爾夫球候選者的大小。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.

高爾夫球候選者的正規化是高爾夫球候選者影像之變形的處理,以使得高爾夫球候選者的大小是等同於高爾夫球樣板T的大小,而維持高爾夫球候選者影像的形狀及像素比,藉以達到高爾夫球候選者及高爾夫球樣板之間輕易的比較。另一方面,高爾夫球樣板T的正規化是高爾夫球樣板影像之變形的處理,以使得高爾夫球樣板T的大小是等同於相對應高爾夫球候選者的大小,而維持高爾夫球樣板影像的形狀及像素比,藉以達到高爾夫球樣板及高爾夫球候選者之間輕易的比較。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.

在經由正規化裝置82b完成高爾夫球候選者或高爾夫球樣板的正規化時,匹配裝置82c比較每個高爾夫球候選者以及高爾夫球樣板,藉以抽取其間的相似程度。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.

相似程度被轉換成依據許多決定準則而決定的數值,比如整體形狀、像素比及像素數值分佈。當相似程度等於或大於預設數值時,其中一相對應的高爾夫球候選者可被辨識為“高爾夫球”。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".

可依據匹配結果,抽取被辨識為高爾夫球之高爾夫球候選者的座標數值,並依據所抽取之座標數值的改變,計算物理特性上的資訊,比如高爾夫球的速度、方向、高度角。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.

下文中,將參考第7圖說明依據本發明實施例用於虛擬高爾夫模擬的感測方法。Hereinafter, a sensing method for virtual golf simulation according to an embodiment of the present invention will be described with reference to FIG.

首先,當虛擬高爾夫模擬開始時,使用者安置高爾夫球於擊球墊上,使得使用者能敲擊高爾夫球。此時,感測裝置獲得安置於擊球墊上之高爾 夫球的影像,並從所獲得的影像找尋高爾夫球(S10)。這種高爾夫球找尋處理藉由擊球偵測器來進行。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.

高爾夫球從所獲得的影像被找出,並且高爾夫球所在之座標上的資訊被確認。如果預設條件被滿足,則擊球準備完成(S11)。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).

在完成擊球準備時,擊球偵測器開始感測擊球是否已經由使用者進行(S12)。在感測到擊球已經進行時(S20),擊球偵測器確認何時擊球已經進行,收集擊球已經進行時的圖框影像以及之後的複數個圖框影像(S31),並傳送所收集的圖框影像至高爾夫球影像處理裝置。另一方面,在感測到擊球還未進行時,處理程序回到擊球感測步驟(S12)。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).

如果擊球偵測器收集該等圖框影像,並在感測到擊球已經進行之後即時傳送所收集的該等圖框影像至高爾夫球影像處理裝置,則高爾夫球影像處理裝置從所接收的影像分離預設區域,以抽取來源影像(S32)。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).

接著,高爾夫球影像處理裝置從所抽取的源影像移除背景影像(S33),以抽取多個高爾夫球候選者(S34)。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).

複數個照像機影像與所抽取的該等高爾夫球候選者進行匹配,藉以獲得三維座標資訊,並且從該三維座標資訊抽取比如在該等照像機以及相對應該等高爾夫球候選者之間距離的資訊,以估計每個高爾夫球候選者的大小(S40)。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).

該等高爾夫球候選者或高爾夫球樣板考慮到每個高爾夫球候選者的估計大小來正規化(S50)。These golf candidates or golf templates are normalized in consideration of the estimated size of each golf candidate (S50).

在正規化後,該等高爾夫球候選者與高爾夫球樣板匹配(S61)。After normalization, the golf ball candidates match the golf ball template (S61).

接著,該等高爾夫球候選者以及高爾夫球樣板之間的相似程度被轉換並計算成數值(S62)。Then, the degree of similarity between the golf ball candidates and the golf ball template is converted and calculated as a numerical value (S62).

如果在每個高爾夫球候選者以及高爾夫球樣板之間所計算的相似程度小於預設數值,則相對應的高爾夫球候選者不被視為高爾夫球,並因而被排除(S63)。另一方面,如果在每個高爾夫球候選者以及高爾夫球樣板之間所計算的相似程度等於或大於預設數值,則相對應的高爾夫球候選者被視為高爾夫球,並抽取相對應的高爾夫球候選者的座標(S64)。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).

以這種方式,在個別圖框中具有相似程度等於或大於預設數值的高爾夫球候選者被辨識為高爾夫球,相對應的高爾夫球的座標數值被抽取,且 所抽取的高爾夫球的座標數值相互連結以計算高爾夫球的軌跡(S65)。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).

所計算的高爾夫球軌跡藉模擬器1實現為模擬影像(S70)。The calculated golf ball track is implemented by the simulator 1 as an analog image (S70).

從上述說明中顯而易見的是,在虛擬高爾夫模擬裝置以及其使用的感測裝置及方法中,其中使用虛擬高爾夫模擬,獲得使用者揮動高爾夫球桿敲擊高爾夫球所敲擊之高爾夫球的影像,以及從所獲得的影像找尋高爾夫球計算高爾夫球的移動軌跡,藉以實現高爾夫球軌跡的模擬影像,尤其是其中高爾夫球很容易且精確地從影像中抽取,以精確計算高爾夫球的軌跡,藉以解決照像機所獲得之影像上高爾夫球的大小改變而很難抽取高爾夫球的問題。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.

以上所述者僅為用以解釋本發明之較佳實施例,並非企圖據以對本發明做任何形式上之限制,是以,凡有在相同之發明精神下所作有關本發明之任何修飾或變更,皆仍應包括在本發明意圖保護之範疇。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‧‧‧模擬器1‧‧‧ Simulator

2‧‧‧高爾夫球室2‧‧‧ Golf Room

3‧‧‧螢幕3‧‧‧ screen

10‧‧‧資料庫10‧‧‧Database

20‧‧‧資料處理部20‧‧‧Data Processing Department

30‧‧‧影像輸出部30‧‧‧Image output department

50‧‧‧照像單元50‧‧‧Photographic unit

51‧‧‧拍攝裝置51‧‧‧Photographing device

52‧‧‧拍攝裝置52‧‧‧Photographing device

60‧‧‧感測處理單元60‧‧‧Sensing processing unit

71‧‧‧抓取器71‧‧‧ Grabber

72‧‧‧擊球偵測器72‧‧‧Ball detector

73‧‧‧轉換裝置73‧‧‧ Conversion device

80‧‧‧高爾夫球影像處理裝置80‧‧‧Golf image processing device

81‧‧‧預先處理裝置81‧‧‧Pre-treatment device

82‧‧‧樣板匹配裝置82‧‧‧Model matching device

82a‧‧‧估計裝置82a‧‧‧ Estimation device

82b‧‧‧正規化裝置82b‧‧‧Regularized device

82c‧‧‧匹配裝置82c‧‧‧Material device

90‧‧‧高爾夫球桿影像處理裝置90‧‧‧Golf club image processing device

100‧‧‧擊球板100‧‧‧Battering board

110‧‧‧擊球台110‧‧‧ hitting table

120‧‧‧擊球墊120‧‧‧Battering pad

200‧‧‧影像200‧‧‧ images

220‧‧‧來源影像220‧‧‧ source image

230‧‧‧背景影像230‧‧‧ Background image

240‧‧‧影像240‧‧‧ images

B‧‧‧高爾夫球B‧‧‧ Golf

C1-1~C4-1‧‧‧高爾夫球候選者C1-1~C4-1‧‧‧Golf candidates

M‧‧‧控制器M‧‧‧ controller

P1、P2‧‧‧點P1, P2‧‧ points

S‧‧‧感測裝置S‧‧‧Sensing device

S10~S20‧‧‧步驟S10~S20‧‧‧Steps

S31~S70‧‧‧步驟S31~S70‧‧‧Steps

T‧‧‧高爾夫球樣板T‧‧‧ golf sample

本發明的上述及其他目的、特點及其他優點,可由以上的詳細說明結合所附圖式而被更加清楚了解,其中:第1圖是顯示依據本發明實施例虛擬高爾夫模擬裝置所應用的螢幕高爾夫系統之實例的示意圖;第2圖是顯示依據本發明實施例虛擬高爾夫模擬裝置之結構的方塊圖;第3圖是顯示第2圖感測裝置的詳細結構及構成感測裝置之元件的功能的示意圖;第4圖(a)是顯示照像單元所獲得影像的示意圖,而第4圖(b)顯示藉從第4圖(a)所示影像分離對應於預設區段之區域所獲得之來源影像的示意圖;第5圖(a)是顯示來源影像的示意圖,第5圖(b)是顯示靜止背景影像的示意圖,而第5圖(c)是顯示藉從來源影像移除背景影像所獲得之影像的示意圖;第6圖(a)是顯示藉結合多個圖框所獲得之影像上多個圖框的高爾夫球候選者C1-1至C4-1,其等如第4圖及第5圖所示之處理以抽取所有高爾夫球候選者,而第6圖(b)是顯示預設並儲存以當作高爾夫球之參考影像的高爾夫球樣板T的示意圖;以及第7圖是顯示依據本發明實施例用於虛擬高爾夫模擬裝置的感測方法的流 程圖。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‧‧‧模擬器1‧‧‧ Simulator

50‧‧‧照像單元50‧‧‧Photographic unit

71‧‧‧抓取器71‧‧‧ Grabber

72‧‧‧擊球偵測器72‧‧‧Ball detector

73‧‧‧轉換裝置73‧‧‧ Conversion device

80‧‧‧高爾夫球影像處理裝置80‧‧‧Golf image processing device

81‧‧‧預先處理裝置81‧‧‧Pre-treatment device

82‧‧‧樣板匹配裝置82‧‧‧Model matching device

82a‧‧‧估計裝置82a‧‧‧ Estimation device

82b‧‧‧正規化裝置82b‧‧‧Regularized device

82c‧‧‧匹配裝置82c‧‧‧Material device

90‧‧‧高爾夫球桿影像處理裝置90‧‧‧Golf club image processing device

Claims (12)

一種用於虛擬高爾夫模擬裝置的感測裝置,包括:一照像單元,用於獲得使用者揮動高爾夫球桿敲擊高爾夫球所敲擊之高爾夫球的複數個圖框影像;以及一感測處理單元,包括一預先處理裝置以及一樣板匹配裝置,該預先處理裝置用於處理該照像單元獲得的該等影像,藉以抽取多個高爾夫球候選者,而該樣板匹配裝置用於預設並儲存一高爾夫球樣板,當作高爾夫球的一參考影像,並依據每個高爾夫球候選者的大小,變動匹配所抽取的該等高爾夫球候選者以及該高爾夫球樣板,藉以抽取高爾夫球的資訊。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. 依據申請專利範圍第1項所述之用於虛擬高爾夫模擬裝置的感測裝置,其中該預先處理裝置配置以從一來源影像抽取該等高爾夫球候選者,該來源影像是藉由從該照像單元所獲得之該等影像中的每一影像分離一預設區段之一影像來獲得,而該預設區段是由擊球已經進行的一點開始。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. 依據申請專利範圍第1項所述之用於虛擬高爾夫模擬裝置的感測裝置,其中該樣板匹配裝置配置以估計每個高爾夫球候選者的大小,藉以處理每個高爾夫球候選者,使得每個高爾夫球候選者的大小對應於該高爾夫球樣板的大小,並匹配每個高爾夫球候選者以及該高爾夫球樣板。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. 依據申請專利範圍第1項所述之用於虛擬高爾夫模擬裝置的感測裝置,其中該樣板匹配裝置配置以估計每個高爾夫球候選者的大小,藉以處理該高爾夫球樣板,使得該高爾夫球樣板的大小對應於每個高爾夫球候選者的大小,並匹配每個高爾夫球候選者以及該高爾夫球樣板。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. 依據申請專利範圍第1項所述之用於虛擬高爾夫模擬裝置的感測裝置,其中該照像單元包括相互協同連結的複數個照像機,用於獲得複數個圖框影像;以及該感測處理單元進一步包括一轉換裝置,用於匹配個別照像機所獲得的影像,藉以轉換二維資訊為三維資訊,或相反地轉換三維資訊為二維資訊。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. 依據申請專利範圍第5項所述之用於虛擬高爾夫模擬裝置的感測裝置,其中該樣板匹配裝置包括:一估計裝置,用於抽取經由該轉換裝置抽取之該等高爾夫球候選者的三維資訊,藉以估計每個高爾夫球候選者的大小;一正規化裝置,用於正規化該等高爾夫球候選者,使得每個高爾夫球候選者具有對應於該高爾夫球樣板的大小;以及一匹配裝置,用於匹配正規化的該等高爾夫球候選者以及該高爾夫球樣板,藉以抽取其間的相似程度,並用於從該等高爾夫球候選者找尋高爾夫球,藉以抽取其座標資訊。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. 依據申請專利範圍第5項所述之用於虛擬高爾夫模擬裝置的感測裝置,其中該樣板匹配裝置包括:一估計裝置,用於抽取經由該轉換裝置抽取之該等高爾夫球候選者的三維資訊,藉以估計每個高爾夫球候選者的大小;一正規化裝置,用於正規化該高爾夫球樣板,使得該高爾夫球樣板的大小係對應於每個高爾夫球候選者的估計大小;以及一匹配裝置,用於匹配該等高爾夫球候選者以及正規化的該高爾夫球樣板,藉以抽取其間的相似程度,並用於從該等高爾夫球候選者找尋高爾夫球,藉以抽取其座標資訊。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. 一種虛擬高爾夫模擬裝置,包括:一感測裝置,包括一照像單元以及一感測處理單元,該照像單元用於獲得使用者揮動高爾夫球桿敲擊高爾夫球所敲擊之高爾夫球的複數個圖框影像,而該感測處理單元包括一預先處理裝置以及一樣板匹配裝置,該預先處理裝置用於處理該照像單元獲得的該等影像,藉以抽取多個高爾夫球候選者,而該樣板匹配裝置用於預設並儲存一高爾夫球樣板,當作高爾夫球的一參考影像,並依據每個高爾夫球候選者的大小,變動匹配所抽取的該等高爾夫球候選者以及該高爾夫球樣板,藉以抽取高爾夫球的資訊;以及 一影像實現裝置,用於依據該感測處理單元所抽取之資訊,實現該高爾夫球之軌跡的模擬影像。 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. 一種用於虛擬高爾夫模擬的感測方法,包括:獲得使用者揮動高爾夫球桿敲擊高爾夫球所敲擊之高爾夫球的複數個圖框影像;處理獲得的該等影像,以抽取多個高爾夫球候選者;以及依據每個高爾夫球候選者的大小,變動匹配所抽取之該等高爾夫球候選者以及一高爾夫球樣板,該高爾夫球樣板係被預設及儲存以當作高爾夫球的一參考影像,藉以抽取高爾夫球的資訊。 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. 依據申請專利範圍第9項所述之用於虛擬高爾夫模擬的感測方法,其中該抽取多個高爾夫球候選者係包括:從所獲得的每個影像分離一預設區段的一影像,該預設區段是從擊球已經進行的一點開始,藉以獲得一來源影像;經由一差異操作從該來源影像移除一背景影像;以及依據高爾夫球的幾何特性,從差異操作的影像移除被視為不是高爾夫球的影像。 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. 依據申請專利範圍第9項所述之用於虛擬高爾夫模擬的感測方法,其中該獲得複數個圖框影像的步驟包括使用複數個照像機以獲得複數個圖框;以及該變動匹配所抽取之該等高爾夫球候選者以及高爾夫球樣板的步驟包括:相對於所抽取的該等高爾夫球候選者,匹配該照像機所獲得的該等影像,以估計每個高爾夫球候選者的大小;正規化該高爾夫球候選者,而每個高爾夫球候選者的大小已經被估計,使得每個高爾夫球候選者具有對應於該高爾夫球樣板的大小;以及匹配正規化的該等高爾夫球候選者以及該高爾夫球樣板,藉以抽取其間的相似程度。 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. 依據申請專利範圍第9項所述之用於虛擬高爾夫模擬的感測方法,其中該獲得複數個圖框影像的步驟包括使用複數個照像機獲得複數個圖框;以及該變動匹配所抽取之該等高爾夫球候選者以及高爾夫球樣板的步驟包括:相對於所抽取的該等高爾夫球候選者,匹配該照像機所獲得的該等影像,以估計每個高爾夫球候選者的大小;正規化該高爾夫球樣板,使得高爾夫球樣板的大小對應於每個高爾夫球候選者的大小;以及匹配該等高爾夫球候選者以及正規化的該高爾夫球樣板,藉以抽取其間的相似程度。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.
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