Title:
BALL TRACKING APPARATUS AND BALL TRACKING METHOD
Document Type and Number:
WIPO Patent Application WO/2021/085578
Kind Code:
A1
Abstract:
The prediction control part 204 predicts a three-dimensional position and a three-dimensional velocity of the world coordinate system of the flying ball at a specific time after the initial time as a predicted position and a predicted velocity based on initial position and initial velocity of flying ball, and an equation indicating a parabolic shape of the flying ball. The conversion control part 205 converts the predicted position into a two-dimensional position of a camera coordinate system as a temporary position. The acquisition control part 206 specifies a flying ball image and acquires a two-dimensional position of the camera coordinate system of the flying ball image as an observation position. The correction control part 207 corrects the predicted position and the predicted velocity as a corrected position and a corrected velocity based on the predicted position and the predicted velocity, the observation position, and a Kalman filter.
Inventors:
KYOICHI NAGAI (JP)
VO TRONG LUAN (JP)
VO TRONG LUAN (JP)
Application Number:
PCT/JP2020/040735
Publication Date:
May 06, 2021
Filing Date:
October 30, 2020
Export Citation:
Assignee:
GPRO CO LTD (JP)
International Classes:
A63B69/36; G06T7/277
Foreign References:
| JPH04347181A | 1992-12-02 | |||
| JP2017119102A | 2017-07-06 | |||
| JP2004248725A | 2004-09-09 | |||
| JP2006505292A | 2006-02-16 | |||
| US20180043229A1 | 2018-02-15 | |||
| JP2008545194W | ||||
| JP2010540036W | ||||
| JP2014508625W | ||||
| JPH04347181A | 1992-12-02 | |||
| JP2004248725A | 2004-09-09 | |||
| JP2006505292W |
Other References:
MASAKKI TAKAHASHI; TOSHIHIKO MISU; MASAHIDE NAEMURA; MAHITO FUJII; NOBUYUKI YAGI: "D-12-44: Full automation of a method for the extraction of flying golf balls from video", PROCEEDINGS OF 2007 IEICE GENERAL CONFERENCE; MEIJO UNIVERSITY, TENPAKU CAMPUS, NAGOYA, JAPAN; MARCH 20 - 23, 2007, 7 March 2007 (2007-03-07), pages 160, XP009527741, ISSN: 1349-1369
MASAKI TAKAHASHI; TOSHIHIKO MISU; MAHITO FUJII; NOBUYUKI YAGI: "Tee shot trajectory visualization in live golf programs using object extraction and motion estimation", ITE TECHNICAL REPORT, vol. 30, no. 41, 28 July 2006 (2006-07-28), pages 17 - 20, XP009527740, ISSN: 1342-6893
MASAKI TAKAHASHI; TOSHIHIKO MISU; MAKOTOTADENUMA; KAZUHIRO MISUMI; NOBUYUKI YAGI: "Development of ball trajectory visualization system "B-Motion", ITE TECHNICAL REPORT, vol. 29, no. 9, 1 January 2005 (2005-01-01), pages 119 - 124, XP009527739, ISSN: 1342-6893
MASAKI TAKAHASHI: "Development of Ball Trajectory Visualization System ''B-Motion", ITE TECHNICAL REPORT, vol. 29, no. 9, XP009527739
JAPAN, THE INSTITUTE OF IMAGE INFORMATION AND TELEVISION ENGINEERS, vol. 29, 4 February 2005 (2005-02-04), pages 119 - 124
MASAKI TAKAHASHI, PROCEEDINGS OF THE 2007 IEICE GENERAL CONFERENCE, 2 April 2007 (2007-04-02), pages 160
MASAKI TAKAHASHI: "Tee shot trajectory visualization inlive golf programs using object extraction and motion estimation", ITE TECHNICAL REPORT, vol. 30, no. 41, XP009527740
THE INSTITUTE OF IMAGE INFORMATION AND TELEVISION ENGINEERS, 13 September 2006 (2006-09-13), pages 17 - 20
WANG PING ET AL.: "Studies and simulations on the flight trajectories of spinning table tennis ball via high-speed camera vision tracking system", PROCEEDINGS OF THE INSTITUTION OF MECHANICAL ENGINEERS, PART P: JOURNAL OF SPORTS ENGINEERING AND TECHNOLOGY, vol. 233, 4 December 2018 (2018-12-04), pages 210 - 226, XP055964325, Retrieved from the Internet DOI: 10.1177/1754337118815021
See also references of EP 3921049A4
MASAKI TAKAHASHI; TOSHIHIKO MISU; MAHITO FUJII; NOBUYUKI YAGI: "Tee shot trajectory visualization in live golf programs using object extraction and motion estimation", ITE TECHNICAL REPORT, vol. 30, no. 41, 28 July 2006 (2006-07-28), pages 17 - 20, XP009527740, ISSN: 1342-6893
MASAKI TAKAHASHI; TOSHIHIKO MISU; MAKOTOTADENUMA; KAZUHIRO MISUMI; NOBUYUKI YAGI: "Development of ball trajectory visualization system "B-Motion", ITE TECHNICAL REPORT, vol. 29, no. 9, 1 January 2005 (2005-01-01), pages 119 - 124, XP009527739, ISSN: 1342-6893
MASAKI TAKAHASHI: "Development of Ball Trajectory Visualization System ''B-Motion", ITE TECHNICAL REPORT, vol. 29, no. 9, XP009527739
JAPAN, THE INSTITUTE OF IMAGE INFORMATION AND TELEVISION ENGINEERS, vol. 29, 4 February 2005 (2005-02-04), pages 119 - 124
MASAKI TAKAHASHI, PROCEEDINGS OF THE 2007 IEICE GENERAL CONFERENCE, 2 April 2007 (2007-04-02), pages 160
MASAKI TAKAHASHI: "Tee shot trajectory visualization inlive golf programs using object extraction and motion estimation", ITE TECHNICAL REPORT, vol. 30, no. 41, XP009527740
THE INSTITUTE OF IMAGE INFORMATION AND TELEVISION ENGINEERS, 13 September 2006 (2006-09-13), pages 17 - 20
WANG PING ET AL.: "Studies and simulations on the flight trajectories of spinning table tennis ball via high-speed camera vision tracking system", PROCEEDINGS OF THE INSTITUTION OF MECHANICAL ENGINEERS, PART P: JOURNAL OF SPORTS ENGINEERING AND TECHNOLOGY, vol. 233, 4 December 2018 (2018-12-04), pages 210 - 226, XP055964325, Retrieved from the Internet
See also references of EP 3921049A4
Attorney, Agent or Firm:
FUKUSHIMA Hajime (JP)
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