US20150350609A1 - Method and apparatus for sensing moving ball - Google Patents

Method and apparatus for sensing moving ball Download PDF

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Publication number
US20150350609A1
US20150350609A1 US14/759,654 US201414759654A US2015350609A1 US 20150350609 A1 US20150350609 A1 US 20150350609A1 US 201414759654 A US201414759654 A US 201414759654A US 2015350609 A1 US2015350609 A1 US 2015350609A1
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Prior art keywords
spin
image
ball
feature portion
information
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Abandoned
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US14/759,654
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English (en)
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Se Hwan Kim
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Golfzon Co Ltd
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Golfzon Co Ltd
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Assigned to GOLFZON CO., LTD. reassignment GOLFZON CO., LTD. ASSIGNMENT OF ASSIGNORS INTEREST (SEE DOCUMENT FOR DETAILS). Assignors: KIM, SE HWAN
Publication of US20150350609A1 publication Critical patent/US20150350609A1/en
Abandoned legal-status Critical Current

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    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N13/00—Stereoscopic video systems; Multi-view video systems; Details thereof
    • H04N13/20—Image signal generators
    • H04N13/204—Image signal generators using stereoscopic image cameras
    • H04N13/239—Image signal generators using stereoscopic image cameras using two 2D image sensors having a relative position equal to or related to the interocular distance
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/20—Analysis of motion
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
    • A63B69/00—Training appliances or apparatus for special sports
    • A63B69/36—Training appliances or apparatus for special sports for golf
    • G—PHYSICS
    • G03—PHOTOGRAPHY; CINEMATOGRAPHY; ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ELECTROGRAPHY; HOLOGRAPHY
    • G03B—APPARATUS OR ARRANGEMENTS FOR TAKING PHOTOGRAPHS OR FOR PROJECTING OR VIEWING THEM; APPARATUS OR ARRANGEMENTS EMPLOYING ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ACCESSORIES THEREFOR
    • G03B35/00—Stereoscopic photography
    • G03B35/08—Stereoscopic photography by simultaneous recording
    • G—PHYSICS
    • G03—PHOTOGRAPHY; CINEMATOGRAPHY; ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ELECTROGRAPHY; HOLOGRAPHY
    • G03B—APPARATUS OR ARRANGEMENTS FOR TAKING PHOTOGRAPHS OR FOR PROJECTING OR VIEWING THEM; APPARATUS OR ARRANGEMENTS EMPLOYING ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ACCESSORIES THEREFOR
    • G03B39/00—High-speed photography
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F18/00—Pattern recognition
    • G06F18/20—Analysing
    • G06F18/22—Matching criteria, e.g. proximity measures
    • G06K9/00711—
    • G06K9/52—
    • G06K9/6215—
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/20—Analysis of motion
    • G06T7/246—Analysis of motion using feature-based methods, e.g. the tracking of corners or segments
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/50—Depth or shape recovery
    • G06T7/55—Depth or shape recovery from multiple images
    • G06T7/593—Depth or shape recovery from multiple images from stereo images
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/70—Determining position or orientation of objects or cameras
    • G06T7/73—Determining position or orientation of objects or cameras using feature-based methods
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V10/00—Arrangements for image or video recognition or understanding
    • G06V10/40—Extraction of image or video features
    • G06V10/42—Global feature extraction by analysis of the whole pattern, e.g. using frequency domain transformations or autocorrelation
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V20/00—Scenes; Scene-specific elements
    • G06V20/40—Scenes; Scene-specific elements in video content
    • H04N13/0239—
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N7/00—Television systems
    • H04N7/18—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast
    • H04N7/181—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast for receiving images from a plurality of remote sources
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2207/00—Indexing scheme for image analysis or image enhancement
    • G06T2207/10—Image acquisition modality
    • G06T2207/10016—Video; Image sequence
    • G06T2207/10021—Stereoscopic video; Stereoscopic image sequence
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2207/00—Indexing scheme for image analysis or image enhancement
    • G06T2207/30—Subject of image; Context of image processing
    • G06T2207/30204—Marker
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N13/00—Stereoscopic video systems; Multi-view video systems; Details thereof
    • H04N2013/0074—Stereoscopic image analysis
    • H04N2013/0085—Motion estimation from stereoscopic image signals

Definitions

  • the present invention relates to a method and apparatus for sensing a moving ball for acquiring an image of the moving ball and processing and analyzing the image to calculate the spin of the ball.
  • an apparatus for sensing a moving ball for acquiring and analyzing an image of the moving ball to calculate spin of the moving ball
  • the apparatus including an image acquisition unit for acquiring consecutive images according to movement of a ball with a surface having a predetermined feature portion indicated thereon, an image processing unit for extracting only a feature portion of a ball portion from each of images consecutively acquired by the image acquisition unit, and a spin calculation unit for comparing and analyzing position information of each pixel of a feature portion obtained by applying a trial spin axis and a trial spin amount to position information of pixels constituting a feature portion of a ball portion on a first image as a preceding image among two consecutively acquired images of a moving ball, and position information of each pixel constituting a feature portion of a ball portion of a second image as a subsequent image among the two consecutively acquired images, to calculate a spin axis and spin amount according to ball movement to the second image from the first image.
  • an apparatus for sensing a moving ball for acquiring and analyzing an image of the moving ball to calculate spin of the moving ball
  • the apparatus including an image acquisition unit for acquiring consecutive images according to movement of a ball with a surface having a predetermined feature portion indicated thereon, an image processing unit for extracting a feature portion on a ball portion from each of images consecutively acquired by the image acquisition unit and extracting a feature portion from the ball portion to prepare a feature portion image of each of the consecutive images, and a spin calculation unit for calculating a spin axis and spin amount in a three-dimensional space to convert a feature portion image of a preceding image of two consecutive feature portion images into a feature portion image of a subsequently acquired image.
  • a method of sensing a moving ball for acquiring and analyzing an image of the moving ball to calculate spin of the moving ball, the method including acquiring consecutive images according to movement of a ball with a surface having a predetermined feature portion indicated thereon, extracting a feature portion from a ball portion from each of the consecutively acquired images to prepare a feature portion image, and searching for a spin axis and spin amount in three-dimensional space, for allowing a feature portion image of a first acquired image of two consecutively acquired images into a feature portion image of a second acquired image.
  • An apparatus and method for sensing a moving ball may extract a feature portion such as a trademark, a logo, etc. indicated on a ball from consecutive images of a moving ball, acquired by an image acquisition unit embodied by a predetermined camera device, and calculate a spin axis and spin amount of rotation the moving ball based on the feature portion and thus spin of the ball is simply, rapidly, and accurately calculated with low computational load, thereby achieving rapid and stable calculation of the ball in a relatively low performance system.
  • FIG. 3 is a diagram illustrating of a moving ball and two cameras configured in a stereo manner as an image acquisition unit according to an embodiment of the present invention
  • FIG. 9 is a diagram for explanation of calculation of spin of a moving ball
  • FIG. 12 is a flowchart for explanation of a method of sensing a moving ball according to an embodiment of the present invention.
  • the present invention may be basically configured to photograph a golf ball (hereinafter, referred to as a “ball”), which is hit by a golf club of a user, via a predetermined camera, to analyze the captured image, and to calculate spin of the ball in flight.
  • the camera may be a three-dimensional camera or a stereo camera configured by a plurality of cameras in a stereo manner and may be configured to convert coordinates of a two-dimensional image of the ball into three-dimensional coordinates or vice versa.
  • the method and apparatus for sensing a moving ball according to the present invention may be applied to various fields such as analysis of a ball in flight according to golf swing of a user, a virtual golf using a virtual reality-based simulation, and so on.
  • FIGS. 1 and 2 First, an apparatus for sensing a moving ball according to an embodiment of the present invention will be described with reference to FIGS. 1 and 2 .
  • an apparatus for sensing a moving ball includes an image acquisition unit 100 , an image processing unit 200 , and a spin calculation unit 300 .
  • the image acquisition unit 100 may be a camera device and may be embodied through a three-dimensional camera device or a stereo camera including a plurality of cameras, as described in the background art.
  • FIG. 1 illustrates a case in which the image acquisition unit 100 is embodied as a stereo camera device including a first camera 110 and a second camera 120 .
  • the image processing unit 200 is a component that extracts a ball image that is an image corresponding to a ball portion from each image acquired by the image acquisition unit 100 and removes a dimple portion and various noise portions from the ball image to extract a feature portion of the ball image, that is, an unspecified indication such as a trademark or a logo indicated on the ball, a scratch, etc.
  • the image processing unit 200 may include a ball image extraction part 210 and a ball feature extraction part 230 .
  • the ball image extraction part 210 is configured to extract a ball image that is an image corresponding to a ball portion from a source image that is an image acquired by the image acquisition unit 100 and to extract a central coordinate of the ball portion, which will be described below in detail.
  • the ball feature extraction part 230 is a component that normalizes size, brightness, and so on of each ball image extracted by the ball image extraction part 210 and extracts the feature portion (i.e., an unspecified indication such as a trademark or a logo indicated on the ball, a scratch, etc.) indicated on the image, which will be described below in detail.
  • the feature portion i.e., an unspecified indication such as a trademark or a logo indicated on the ball, a scratch, etc.
  • the spin applying part 320 extracts and applies trial spin axis and spin amount information in order to calculate the spin axis and spin amount for allowing the position of the feature portion on the first image to be converted into the position of the feature portion of the second image.
  • the spin determination part 330 may determine whether the trial spin axis and spin amount information applied by the spin applying part 320 are close to target spin axis and spin amount information to calculate final spin information.
  • FIGS. 4( a ), 4 ( b ), and 4 ( c ) illustrate images in states in which only ball portions 21 , 22 , and 23 remain by removing a background portion and so on using a differential image from images acquired by photographing a moving ball within a viewing angle via a fixed camera at a predetermined time interval.
  • a current state is a state in which a ball flies in a left diagonal direction.
  • the viewed ball is enlarged like the ball portion 21 as illustrated in FIG. 4( a ), and then, as the ball gradually moves away from the camera, the viewed ball becomes smaller like the ball portions 22 and 23 as illustrated in FIGS. 4( b ) and 4 ( c ).
  • FIGS. 4( a ), 4 ( b ), and 4 ( c ) that is, an image of a ball portion as a moving portion, remaining after removal of a background portion and various noise portions from an initially acquired image via a differential image, etc., is referred to as a source image.
  • the feature portion may be extracted using various image processing schemes such as a differential image scheme and so on.
  • the spin of the ball may be calculated by calculating coordinate information about a spin axis in a three-dimensional space based on an i-axis, j-axis, and k-axis coordinate system and an angle for rotation with respect to the spin axis, that is, information about a spin amount, as illustrated in FIG. 9 .
  • components for representing rotational motion in three-dimensional space include pitch, yaw, and roll (for example, when a spin axis corresponds to a k axis, a ball has only side spin, and when the spin axis corresponds to an i axis, the ball has only back spin or forward spin).
  • a rotational component in an i-axis direction is ⁇
  • a rotational component in a j-axis direction is ⁇
  • a rotational component in a k-axis direction is ⁇
  • a vector of target spin may be represented according to Equation 1 below.
  • the spin axis information and the spin amount information may be calculated according to Equations 2 and 3 below, respectively.
  • ⁇ is the spin amount information.
  • the spin axis and spin amount information may be obtained by calculating ⁇ as a yaw rotational component of spin of a moving ball, ⁇ as a roll rotational component, and ⁇ as a pitch rotational component.
  • the spin axis and spin amount information may be obtained from a feature portion extracted from the ball image shown in FIG. 7 .
  • the spin axis and spin amount may be extracted using feature portion images ( FIGS. 8( c ) and 8 ( d )) of two consecutive ball images.
  • FIGS. 10 and 11 are diagrams for explanation of a principle of the aforementioned position correction.
  • the sensing apparatus and method according to the present invention calculates spin information from position change of a feature portion of two consecutive images.
  • a pair of consecutive images needs to be viewed at the same position and direction. That is, it is necessary to correct consecutive acquired images as if respective balls on the images are viewed at the same position and direction with respect to the camera while the camera moves together with the ball (a passing ball is always photographed by a fixed camera).
  • a direction Bi that is a vector component in parallel to the ground surface G and is contained in a plan p orthogonal to a vector component Bj corresponding to a direction in which the ball 10 proceeds may be established as a reference.
  • the position correction may be achieved by correcting an angle at which a ball is viewed with respect to a camera, using coordinate information of a fixed camera and central coordinate information of the ball, which are already known.
  • the position correction may be achieved by applying information about a portion to be corrected to position coordinates of pixels each extracted feature portion instead of actually correcting an image.
  • Position information of each pixel constituting the first feature portion FC 1 (refer to FIG. 8 ) is converted into three-dimensional position information, a resulting value is obtained by applying the aforementioned position correction information and applying trial spin axis and spin amount to the three-dimensional position information, and then, the resulting information is re-converted into two-dimensional position information.
  • the applied trial spin axis and spin amount information may be accurate target spin axis and spin amount information.
  • the sensing apparatus and method according to the present invention may repeatedly apply trial spin axis and spin amount information to obtain position information and may find spin axis and spin amount information that correspond to the obtained position information at a predetermined level or more to calculate final spin information.
  • This may be represented by converting position information of pixels constituting each of the first and second feature portions into three-dimensional position information according to Equations 4 and 5 below.
  • P2set — 3D is a matrix obtained by converting P2set into three-dimensional coordinate information, where P2set is a matrix of coordinates (two-dimensional coordinates) of each pixel on the second feature portion FC 2 (refer to FIG. 8 ).
  • C 1 and C 2 are rotation matrices calculated as position correction information according to the principle illustrated in FIGS. 10 and 11 , C 1 is for correction of position coordinates of pixels of the first feature portion, and C 2 is for correction of position coordinates of pixels of the second feature portion.
  • PC1set — 3D is a matrix obtained by correcting positions of three-dimensional coordinates of the pixels of the first feature portion and PC2set — 3D is a matrix obtained by correcting positions of three-dimensional coordinates of the pixels of the second feature portion.
  • a rotation matrix R( ⁇ , ⁇ ) may be calculated using ⁇ and ⁇ .
  • a correlation of R( ⁇ , ⁇ ), and PC1set — 3D and PC2set — 3D that are obtained by converting positions of pixels of the respective feature portions into three-dimensional coordinate information satisfies Equation 6 below.
  • Equations 4 and 5 above may be substituted into Equation 6 above to obtain a correlation represented in Equation 7 below.
  • C 2 T is transposition of matrix C 2 .
  • position information of the pixels of the first feature portion may be converted into three-dimensional position information, and a resulting value may be obtained by applying position correction information and applying trial spin information to the three-dimensional position information. That is, trial spin information may be substituted into R( ⁇ , ⁇ ) as target final spin information in Equation 7 above.
  • Tset — 3D is a result obtained by substituting a rotation matrix R( ⁇ ′, ⁇ ′) calculated using a trial spin axis vector w′ and a trial spin amount a′ as trial spin information into Equation 7 above, Equation 8 below is satisfied.
  • T set — 3D C 2 T*R ( ⁇ ′, ⁇ ′)* C 1* P 1set — 3D [Equation 8]
  • Tset is obtained by converting Tset — 3D calculated according to Equation 8 above into a two-dimensional coordinate
  • R( ⁇ ′, ⁇ ′) and R( ⁇ , ⁇ ) have the same value, and thus, R( ⁇ ′, ⁇ ′) as the trial spin information R( ⁇ ′, ⁇ ′) may be determined as final spin information.
  • trial spin information applied to Tset closest to P2set that is, having highest similarity among a plurality of Tset to which different trial spin information is applied may be determined as the final spin information.
  • Tset and P2set are compared and the number of pixels having corresponding position coordinates is calculated, when the number of the corresponding pixels is equal to or greater than a predetermined level, or if similarity between pixels of Tset and pixels of P2set is calculated according to a predetermined function is equal to or greater than a predetermined level, trial spin information applied to the corresponding Tset is final spin information.
  • the similarity may be determined, for example, based on a ratio of the number of the corresponding pixels to all pixels.
  • a ball portion is found from each source image to extract ball images (S 20 ) and a ball feature portion is extracted from each of the ball images to prepare respective feature portion images (S 30 ).
  • similarity may be calculated according to a function and the final spin information may be selected according to the similarity.
  • a trial spin axis may be selected in consideration of only a pitch rotational component and a yaw rotational component while disregarding a roll rotational component to some extent, and thus, the number of cases to be considered may be significantly reduced.
  • a method and apparatus for sensing a moving ball according to the present invention is applicable to an industrial field related to golf training including analyzing a ball in flight according to golf swing, a so-called screen golf industrial field providing a virtual reality-based simulation to allow a user to play a virtual golf game, and so on.

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KR10-2013-0002204 2013-01-08
KR1020130002204A KR101472274B1 (ko) 2013-01-08 2013-01-08 운동하는 볼에 대한 센싱장치 및 센싱방법
PCT/KR2014/000199 WO2014109545A1 (ko) 2013-01-08 2014-01-08 운동하는 볼에 대한 센싱장치 및 센싱방법

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US20150356748A1 (en) * 2013-01-08 2015-12-10 Golfzon Co., Ltd. Method and apparatus for sensing moving ball
US11052284B2 (en) * 2018-10-29 2021-07-06 Creatz., Inc. Method, system and non-transitory computer-readable recording medium for supporting shooting a golf swing
US11135497B2 (en) 2015-06-12 2021-10-05 Golfzon Co., Ltd. Device for sensing moving ball and method for the same
US11191998B2 (en) * 2018-10-29 2021-12-07 Creatz., Inc. Method, system and non-transitory computer-readable recording medium for measuring ball spin
US11351436B2 (en) * 2019-06-24 2022-06-07 Garmin Switzerland Gmbh Hybrid golf launch monitor
US11364428B2 (en) * 2017-12-12 2022-06-21 Golfzon Co., Ltd. Device for sensing a moving ball and method for computing parameters of moving ball using the same

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KR102129129B1 (ko) * 2018-08-24 2020-07-02 주식회사 크리에이츠 공의 회전을 측정하기 위한 방법, 시스템 및 비일시성의 컴퓨터 판독 가능한 기록 매체
US10750077B1 (en) 2019-02-20 2020-08-18 Himax Imaging Limited Camera system with multiple camera
TWI702566B (zh) * 2019-03-20 2020-08-21 恆景科技股份有限公司 相機系統
CA3164629A1 (en) * 2020-01-16 2021-07-22 Yong Ho Suk Method, system, and non-transitory computer-readable recording medium for measuring spin of ball
KR102408337B1 (ko) * 2020-05-08 2022-06-13 주식회사 골프존 스크린 골프용 스크린 및 그 제조방법
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AU2014205858A1 (en) 2015-07-30
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TWI520104B (zh) 2016-02-01
TW201604838A (zh) 2016-02-01
CN104981846B (zh) 2018-05-11
US11582426B2 (en) 2023-02-14
WO2014109545A1 (ko) 2014-07-17
TWI554980B (zh) 2016-10-21
KR101472274B1 (ko) 2014-12-12
US20180367764A1 (en) 2018-12-20
TW201435811A (zh) 2014-09-16
JP2016503893A (ja) 2016-02-08
EP2945119A4 (en) 2016-09-21
CN104981846A (zh) 2015-10-14
KR20140090010A (ko) 2014-07-16
JP6080029B2 (ja) 2017-02-15

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