KR102517067B1 - Ceiling golf simulation system using two cameras - Google Patents

Abstract

The present invention relates to a ceiling-type golf simulation system using two cameras, and relates to a ball at a reference point (tee) and a ball to fly from a reference point (tee) due to a hit, and an image of a first camera and an error correction obtained in advance. The first step of calculating the angle between the front direction vector starting from the first camera and the vector connecting the first camera to the ball using data, and the second step using the image of the second camera and error correction data acquired in advance. The second step of calculating the angle between the front direction vector starting from the camera and the vector connecting the second camera to the ball, the distance to the ball from the first and second cameras and the positional coordinates of the first and second cameras The 3rd step of calculating the 3D coordinates of the ball using the 3D coordinates, the 4th step of repeatedly inserting the 3D coordinates of the ball into the 3D array of the ball by repeating as many frames as the frames captured in the 1st to 3rd steps, by the 1st and 2nd cameras A fifth step of calculating the azimuth and launch angle of the ball using the time interval between each frame of the captured image and the positional difference of each point, comparing neighboring frames starting with the first and second frames of the image captured by the first camera 6th step of detecting and storing the difference pixels, 7th step of analyzing the change in pixels between frames detected in the 6th step and calculating the direction of movement of the club, difference between the direction of movement of the club and the azimuth angle of the flying ball and an eighth step of simulating sidespin of the ball based on preset data, a ninth step of simulating backspin of the ball based on the launch angle of the flying ball and preset data, and flight. It consists of a tenth step of calculating the trajectory data of the ball based on the backspin, sidespin, azimuth and launch angle of the ball being played and displaying it on the screen along with the virtual golf course.

Description

Ceiling golf simulation system using two cameras {Ceiling golf simulation system using two cameras}

The present invention relates to a ceiling type golf simulation system using two cameras. A ceiling type golf simulation system using two cameras capable of calculating trajectory data for displaying the trajectory of a golf ball in a virtual golf course.

Recently, various devices that allow users to enjoy popular sports games such as baseball, soccer, basketball, and golf in the form of an interactive sports game through simulation indoors or in a specific place have been actively developed. are losing

In particular, recently, a so-called screen golf system has appeared, and when a user swings a golf club with a golf club and hits a ball placed on a hitting mat, a sensing device detects this and extracts the physical characteristics of the moving golf ball, based on which a virtual golf ball is played. A technology is being developed to enable users to enjoy golf in virtual reality by simulating a trajectory of a ball on a golf course.

In such an interactive sports game, research and development on various sensing systems for accurately detecting physical information about the motion of a ball in motion is being actively conducted in order to simulate sports using balls such as golf balls. .

For example, various sensing methods have emerged, such as a sensing device using an infrared sensor, a sensing device using a laser sensor, a sensing device using an acoustic sensor, and a sensing device using a camera sensor. Research on a camera sensor-type sensing device that acquires and analyzes an image of a ball playing is being actively conducted.

In addition, the conventional IR sensor golf system uses a halogen bulb as lighting and uses only two IR sensor modules arranged in two rows in front of the ball, that is, in front of the ball facing the screen, to prevent flying through the air due to hitting. The ball is sensed and recognized, but in this case, the flight of the ball is detected only twice with two IR sensor modules arranged in two rows, so the ball flight is not detected continuously and repeatedly. There is a problem with low accuracy.

In particular, since the resolution of the IR sensor module is low, there is a problem in that information about the direction of movement of the club or ball, the speed of the ball, and rotation based on the information detected by the IR sensor module is also low in accuracy.

The present invention to solve the problems of the prior art as described above, the trajectory of the golf ball in the virtual golf course is detected by detecting the azimuth angle (left and right angle) of the ball from the image acquired through the camera near the top of the reference point. Its purpose is to provide a ceiling-type golf simulation system using two cameras capable of increasing the accuracy of azimuth for display.

As described above, an object of the present invention is to use the image of the first camera photographing the ball at the reference point (tee) and the ball to fly into the air from the reference point (tee) due to the hit and the error correction data obtained in advance by the first camera. A first step of calculating an angle between a front direction vector starting at and a vector connecting the first camera to the ball; a second step of calculating an angle between a front direction vector starting from the second camera and a vector connecting the second camera to the ball by using the image of the second camera and error correction data obtained in advance; a third step of calculating 3D coordinates of the ball using the distance to the ball from the first and second cameras and the positional coordinates of the first and second cameras; a fourth step of repeatedly inserting the ball into a three-dimensional array of balls by repeating as many frames as the shots of the ball in the first to third steps; A fifth step of calculating the azimuth and launch angles of the ball using the time interval between each frame of the image captured by the first and second cameras and the positional difference of each point; a sixth step of detecting and storing a pixel having a difference by comparing neighboring frames, starting with the first and second frames of the image captured by the first camera; a seventh step of estimating the moving direction of the club by analyzing the pixel change between frames detected in the sixth step; An eighth step of simulating sidespin of the ball based on the speed of the difference between the direction of the club and the azimuth of the flying ball and preset data; A ninth step of simulating the backspin of the ball based on the launch angle of the flying ball and preset data; and a 10th step of calculating the trajectory data of the ball based on the backspin, sidespin, azimuth and launch angle of the flying ball and displaying it on the screen along with the virtual golf course. It is achieved by a golf simulation method.

According to one aspect of the present invention, the fourth step is characterized in that it further comprises the step of correcting the array of three-dimensional coordinates of the ball to be a straight line.

According to another aspect of the present invention, a first camera located forward and backward with respect to the starting position (tee) of the ball before the first step and a second camera to the right of the first camera based on the direction toward the screen. Entering the X, Y, Z coordinates of; With the first and second cameras pointing at the starting position of the ball, a rectangle corresponding to the hitting area is created using the starting position as a reference point, and the reference point is checked through the first and second cameras to determine the horizontal and vertical values of the rectangle. It is characterized in that it is configured to include the step of inputting and obtaining error correction data for correcting errors caused by the positions of the first and second cameras, the angle of view of the lens, and the curvature through the above steps.

In addition, another object of the present invention is to obtain an image of a first camera that captures a ball flying in the air from a reference point (tee) due to a hit and a ball of a reference point (tee) input through an image input unit and error correction data obtained in advance. a first angle calculation unit that calculates an angle between a front direction vector starting from the first camera and a vector connecting the first camera to the ball; A second angle for calculating an angle between a front direction vector starting from the second camera and a vector connecting the second camera to the ball using the image of the second camera input through the image input unit and error correction data obtained in advance. calculator; a 3D coordinate calculation unit for calculating 3D coordinates of the ball using the distance from the first and second cameras to the ball and the coordinates of the positions of the first and second cameras; a 3D array inserting unit that repeatedly inserts the angles calculated by the first and second angle calculation units and the 3D coordinates calculated by the 3D coordinates calculation unit into a 3D array of balls by repeating the number of frames in which the ball is photographed; a flight information calculation unit that calculates an azimuth and a launch angle of the ball using a time interval between frames of images captured by the first and second cameras input through the image input unit and a difference in position of each point; a pixel change detection unit for detecting and storing a pixel having a difference by comparing neighboring frames starting from the first and second frames of the image captured by the first camera; a club traveling direction calculation unit for estimating the traveling direction of the club by analyzing the pixel change between frames detected by the pixel change detecting unit; a sidespin simulation unit simulating sidespin of the ball based on the difference between the direction of the club and the azimuth of the flying ball and preset data; a backspin simulation unit simulating a backspin of the ball based on a launch angle of the flying ball and preset data; and a golf ball trajectory calculation unit that calculates the trajectory data of the ball based on the backspin, sidespin, azimuth and launch angle of the flying ball and displays it on a screen along with a virtual golf course. A ceiling using two cameras. type golf simulation method.

According to one aspect of the present invention, the 3-dimensional array inserting unit is characterized in that it further comprises an array correcting unit for correcting the array of 3-dimensional coordinates of the ball to be a straight line.

According to another aspect of the present invention, the X, Y, and Z of the first camera located forward and backward with the starting position (tee) of the ball as a reference point and the second camera to the right of the first camera based on the direction toward the screen. a camera location information input unit for inputting coordinates; With the first and second cameras pointing at the starting position of the ball, a rectangle corresponding to the hitting area is created using the starting position with the ball as a reference point, and the reference point is checked through the first and second cameras to determine the width and width of the rectangle. a vertical and horizontal value input unit for inputting a vertical value; and an error correction data calculation unit that obtains error correction data for correcting errors caused by the positions of the first and second cameras acquired by the camera position information input unit and the aspect input unit, the viewing angle of the lens, and the curvature. It is characterized in that it is configured to further include an input unit to be.

According to the present invention, by detecting the azimuth (left and right angles) of the ball from an image acquired through a camera located directly above the reference point, the accuracy of the azimuth for calculating the trajectory of a golf ball in a virtual golf course can be increased. It works.

1A is a configuration diagram of a ceiling type golf simulation system using two cameras according to an embodiment of the present invention.
Figure 1b is a view showing the installed state of the camera disclosed in Figure 1a.
2 is a detailed configuration diagram of the golf ball trajectory simulation unit disclosed in FIG. 1A.
3 is a detailed configuration diagram of an input unit disclosed in FIG. 1A.
4A and 4B are flowcharts illustrating a process of simulating a golf ball trajectory in a golf virtual course by the ceiling type golf simulation system using two cameras disclosed in FIG. 1A.

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

1A is a configuration diagram of a ceiling type golf simulation system using two cameras according to an embodiment of the present invention, and FIG. 1B is a diagram showing an installation state of the cameras disclosed in FIG. 1A.

1A and 1B, the ceiling-type golf simulation system using two cameras according to an embodiment of the present invention has high-resolution first and second cameras that photograph the starting position of the ball and a golf ball flying due to hitting. (110) (120) Analyzing the images of the golf club and the ball captured by the first and second cameras 110 and 120 to calculate the trajectory data of the ball for golf simulation in the virtual golf course A golf ball trajectory simulation unit 200, a project drive control unit 400 for controlling driving of a project for displaying a virtual golf course and a ball trajectory, a screen 500 displaying motions of a golf virtual course and a golf ball, and a second 1, it is composed of an input unit 600 for inputting positional information of the second camera 110, 120 and obtaining error correction data.

Here, the first and second cameras 110 and 120 connected to the kiosk 3 are horizontally disposed, but are disposed at the upper rear of the golf mat 2 based on the starting position (tee) of the golf ball 1. do. At this time, the first camera 110 is disposed in the front and rear of the ball, and the second camera 120 is disposed to the right of the first camera 110 based on the direction toward the screen. In addition, the IR LED light 4 is disposed close to the first camera 110.

FIG. 2 is a detailed configuration diagram of the golf ball trajectory simulation unit 200 shown in FIG. 1A.

Referring to FIG. 2, the golf ball trajectory simulation unit 200 disclosed in FIG. 1A captures the ball at the reference point (tee) input through the image input unit 210 and the ball to fly in the air from the reference point (tee) due to a hit. The angle between the front direction vector starting from the first camera 110 and the vector connecting the first camera 110 to the ball is calculated using the image of the first camera 110 and error correction data obtained in advance. 1 The front direction vector starting from the second camera 120 and the second image using the image of the second camera 120 input through the angle calculation unit 220 and the image input unit 210 and error correction data obtained in advance A second angle calculator 230 that calculates an angle between vectors connecting the camera 120 to the ball, the distance from the first and second cameras 110 and 120 to the ball and the first and second cameras The 3D coordinate calculator 240 that calculates the 3D coordinates of the ball using the positional coordinates of (110) and 120, and the angles and 3D coordinates calculated by the first and second angle calculators 220 and 230 The 3D array insertion unit 250 repeatedly inserts the 3D coordinates calculated by the coordinate calculator 240 into the 3D array of the ball by repeating the number of frames in which the ball was photographed, the first input through the image input unit 210, A flight information calculation unit 260 that calculates the speed, azimuth, and launch angle of the ball using the time interval between each frame of the image captured by the second camera 110 or 120 and the position difference of each point, and the first camera A pixel change detection unit 270 that compares neighboring frames starting with the first and second frames of the captured image of (110) to detect and store pixels with differences, and pixels between frames detected by the pixel change detection unit 270. Club direction calculation unit 280 for estimating the direction of movement of the club by analyzing the change in the direction of the club, sidespin of the ball based on the difference between the direction of the club and the azimuth angle of the flying ball, the speed of the ball, and preset data Sidespin simulation unit 290 for simulating, the backspin simulation unit 300 for simulating the backspin of the ball based on the launch angle of the flying ball and preset data, and the backspin of the flying ball, It consists of a golf ball trajectory calculation unit 310 that calculates the trajectory data of the ball based on side spin, azimuth and launch angle, and displays it on the screen along with the virtual golf course.

Here, the 3D array insertion unit 250 further includes an array correction unit 251 that corrects the array of 3D coordinates of the balls to be a straight line.

FIG. 3 is a detailed configuration diagram of the input unit 600 shown in FIG. 1A.

Referring to FIG. 3 , the input unit 600 disclosed in FIG. 1A includes the first camera 110 located forward and backward with the starting position (tee) of the ball as a reference point and the first camera 110 based on the direction toward the screen. In the state where the camera location information input unit 610 inputs the X, Y, and Z coordinates of the second camera 120 for the right side of the first and second cameras 110 and 120 pointing to the starting position of the ball An aspect input unit 620 that creates a rectangle corresponding to the hitting area using the starting position of the ball as a reference point, checks the reference point through the first and second cameras 110 and 120, and inputs the horizontal and vertical values of the rectangle, and the position of the first and second cameras 110 and 120 obtained by the camera position information input unit 610 and the aspect input unit 620, and error correction to correct errors caused by the angle of view and curvature of the lens. It is composed of an error correction data calculator 620 that obtains data.

4A and 4B are flowcharts showing a simulation process of a golf ball trajectory in a virtual golf course by the ceiling type golf simulation system using two cameras disclosed in FIG. 1A.

4A and 4B, prior to executing virtual screen golf, that is, golf ball trajectory simulation on a golf virtual course, the user places a ball (golf ball) at a starting position (tee) on a golf mat (S1 ). Subsequently, the user arranges the first and second cameras 110 and 120 horizontally, and arranges them at the rear and upper ends based on the starting position (tee) of the ball. At this time, the user places the first camera 110 at the front and rear of the ball, and places the second camera 120 to the right of the first camera 110 based on the moving direction toward the screen.

After arranging the first and second cameras 110 and 120 in this way, the user selects X (left and right), Y ( Before and after), Z (up and down) coordinate values are input (S3).

With the first and second cameras 110 and 120 located on the ceiling adjusted to point at the ball, the user creates a hitting area with the ball, that is, a rectangle corresponding to the hitting mat, and the first and second cameras 110 Check the reference point through (120), and input the horizontal and vertical values of the rectangle (S4). Here, the rectangle may have a distance of approximately 20 cm in the front, rear, left, and right directions with the position of the ball as a reference point.

At this time, the golf ball trajectory simulation unit 200 uses the starting position of the ball and the hitting area, that is, each corner of the hitting mat as reference points, the reference positions of the first and second cameras 110 and 120, the angle of view, and the lens Obtain error correction data to correct the curvature of (S5).

Then, when the user strikes the ball at the reference point and flies in the air, the first angle calculation unit 220 uses the video image captured by the first camera 110 and the error correction data obtained in step S5 to use the first camera 110 The angle between the front direction vector starting at (110) and the vector connecting the first camera 110 to the ball is calculated (S6).

Similarly, the second angle calculation unit 230 uses the video image captured by the second camera 120 and the error correction data obtained in step S5 to obtain a front direction vector starting from the second camera 120 and the second camera. An angle between vectors connecting from (120) to the ball is calculated (S7).

Subsequently, the 3D coordinate calculator 240 calculates the vector angle of the first camera 110 calculated by the first angle calculator 220 and the second camera (calculated by the second angle calculator 230). 120) and the distance between the first camera 110 and the second camera 120 are triangulated to calculate the distance from the first and second cameras 110 and 120 to the ball (S8 ), and using the distance from the first and second cameras 110 and 120 to the ball and the positional coordinates of the first and second cameras 110 and 120 obtained in step S8, the three-dimensional coordinates of the ball are calculated. Calculate (S9).

Then, the 3D array inserting unit 250 repeats the above steps S7 to S9 as many times as the number of frames in which the ball is photographed, arrays and inserts the 3D coordinates (S10), but the 3D coordinates of the ball stored in this way are stored in the array compensator. It is corrected and straightened by (251) (S11).

Subsequently, the flight information calculation unit 260 calculates the azimuth and launch angle of the ball using the time interval photographed by the first and second cameras 110 and 120 and the position difference of each point (S12), and the pixel The change detection unit 270 starts from the first and second frames in the first camera 110 and then compares the neighboring frames before and after to detect and store the pixel having a difference (S13). In step 280, the direction of movement of the club is calculated by collecting the ends of the area with the pixel difference (S14).

Subsequently, the sidespin simulation unit 290 simulates the sidespin of the ball based on the difference between the club's traveling direction and the ball's azimuth and preset data (S15), and the backspin simulation unit 300 simulates the ball's sidespin. The backspin of the ball is simulated based on the vertical angle and preset data (S16).

Then, the golf ball trajectory calculation unit 310 calculates the trajectory data of the ball based on the ball's backspin, sidespin, azimuth and launch angle (S17), and displays the data on the screen 500 through the project drive control unit 400. Displays the trajectory of the ball along with the virtual golf course on

Although the preferred embodiments of the present invention have been shown and described above, the present invention is not limited to the specific embodiments described above, and is common in the art to which the present invention pertains without departing from the gist of the present invention claimed in the claims. Of course, various modified implementations are possible by those with knowledge of, and these modified structures should not be understood as departing from the technical spirit of the present invention.

110, 120: camera 200: golf ball trajectory simulation unit
210: video input unit 220: first angle calculation unit
230: second angle calculation unit 240: 3-dimensional coordinate calculation unit
250: 3-dimensional array insertion unit 251: array correction unit
260: dispatch information calculation unit 270: pixel change detection unit
280: club direction calculation unit 290: side spin simulation unit
300: backspin simulation unit 310: golf ball trajectory calculation unit
400: Project driving control unit 500: Screen
600: input unit 610: camera location information input unit
620: aspect ratio input unit 630: error correction data calculation unit

Claims (6)

The front direction vector starting from the first camera and the first camera using the image of the first camera that photographed the ball at the reference point (tee) and the ball to fly in the air from the reference point (tee) due to a hit and error correction data acquired in advance A first step of calculating an angle between vectors linking from to the ball;
a second step of calculating an angle between a front direction vector starting from the second camera and a vector connecting the second camera to the ball by using the image of the second camera and error correction data obtained in advance;
a third step of calculating 3D coordinates of the ball using the distance to the ball from the first and second cameras and the positional coordinates of the first and second cameras;
a fourth step of repeatedly inserting the ball into a three-dimensional array of balls by repeating as many frames as the shots of the ball in the first to third steps;
A fifth step of calculating the azimuth and launch angles of the ball using the time interval between each frame of the image captured by the first and second cameras and the positional difference of each point;
a sixth step of detecting and storing a pixel having a difference by comparing neighboring frames, starting with the first and second frames of the image captured by the first camera;
a seventh step of calculating the moving direction of the club by analyzing the pixel change between frames detected in the sixth step;
An eighth step of simulating sidespin of the ball based on the difference between the club's traveling direction and the azimuth angle of the flying ball and preset data;
A ninth step of simulating the backspin of the ball based on the launch angle of the flying ball and preset data; and
Step 10 of calculating the trajectory data of the ball based on the backspin, sidespin, azimuth and launch angle of the flying ball and displaying it on the screen along with the virtual golf course.
Consisting of, a ceiling type golf simulation method using two cameras. According to claim 1,
The fourth step further comprises correcting the array of three-dimensional coordinates of the ball to be a straight line. According to claim 1,
X, Y, and Z coordinates of a first camera located forward and backward with the starting position (tee) of the ball before the first step as a reference point and a second camera to the right of the first camera based on the direction toward the screen input;
With the first and second cameras pointing at the starting position of the ball, a rectangle corresponding to the hitting area is created using the starting position as a reference point with the ball, and the first. 2 Checking the reference point through the camera and inputting the horizontal and vertical values of the rectangle; and
Obtaining error correction data to correct errors caused by the positions of the first and second cameras, the angle of view, and the curvature of the lens through the above steps.
A ceiling golf simulation method using two cameras, characterized in that it comprises a. Using the image of the first camera 110 photographing the ball at the reference point (tee) input through the image input unit 210 and the ball to fly into the air from the reference point (tee) due to a hit and error correction data obtained in advance, a first angle calculator 220 that calculates an angle between a front direction vector starting from 1 camera 110 and a vector connecting the first camera 110 to the ball;
Using the image of the second camera 120 input through the image input unit 210 and error correction data obtained in advance, the front direction vector starting from the second camera 120 and the distance from the second camera 120 to the ball a second angle calculation unit 230 that calculates an angle between vectors linking ;
3D coordinates for calculating the 3D coordinates of the ball using the distance from the first and second cameras 110 and 120 to the ball and the positional coordinates of the first and second cameras 110 and 120 Calculator 240;
The angles calculated by the first and second angle calculation units 220 and 230 and the 3-dimensional coordinates calculated by the 3-dimensional coordinate calculation unit 240 are repeated as many times as the number of frames in which the ball is photographed to form a 3-dimensional array of balls. a three-dimensional array insertion unit 250 to be inserted;
The speed, azimuth, and launch angle of the ball are determined by using the time interval between each frame of the image captured by the first and second cameras 110 and 120 input through the image input unit 210 and the difference in position of each point. Flight information calculation unit 260 for calculating the;
a pixel change detection unit 270 that compares neighboring frames starting with the first and second frames of the image captured by the first camera 110 and detects and stores a pixel having a difference;
a club moving direction calculating unit 280 that estimates the moving direction of the club by analyzing the pixel change between frames detected by the pixel change detecting unit 270;
a sidespin simulation unit 290 simulating sidespin of the ball based on the difference between the club's traveling direction and the azimuth angle of the flying ball and preset data;
a backspin simulation unit 300 simulating a backspin of the ball based on a launch angle of the flying ball and preset data; and
A golf ball trajectory calculation unit 310 that calculates ball trajectory data based on the backspin, sidespin, azimuth and launch angle of the flying ball and displays it on a screen along with a virtual golf course.
Consisting of, a ceiling type golf simulation system using two cameras. According to claim 4,
The 3D array insertion unit 250 further comprises an array correction unit 251 for correcting the array of 3D coordinates of the ball to be a straight line. According to claim 4,
X, Y of the first camera 110 located at the front and rear with the starting position (tee) of the ball as a reference point and the second camera 120 for the right side of the first camera 110 based on the direction toward the screen, a camera location information input unit 610 for inputting Z coordinates;
With the first and second cameras 110 and 120 pointing at the starting position of the ball, a rectangle corresponding to the hitting area is created using the starting position as a reference point with the ball, and the first and second cameras 110 and 120 a horizontal and vertical value input unit 620 that checks a reference point through and inputs horizontal and vertical values of the rectangle; and
Errors caused by the positions of the first and second cameras 110 and 120 acquired by the camera position information input unit 610 and the aspect input unit 620, the angle of view of the lens, and the curvature of the lens may be corrected. Error correction data calculator 620 for obtaining error correction data
Characterized in that it further comprises an input unit 600 consisting of, ceiling type golf simulation system using two cameras.

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