CAMERA SYSTEM FOR FILMING GOLF GAME AND THE METHOD FOR THE SAME
A camera system for filming a golf game comprises a camera module for capturing images; a pan-tilt head pivotally connected to the camera module and configured to rotate the camera module horizontally and vertically; a circuit board connected to the camera module and the pan-tilt head and configured to control the camera module and the pan-tilt head; a sensor unit sensing the direction, vertical angle, and horizontal angle of the camera module; and a central processing unit connected to the camera module, the pan-tilt head and the sensor unit. The present invention also provides a method for filming a golf game by using the camera system.
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The present invention relates to field of golf game, particularly relates to a camera system and a method for filming a golf game.
BACKGROUND ARTVideos taken during a golf game are good for entertainment as well as a tool to improve golfer's skill. Generally, a video of a golf game is taken by another person (generally not the golfer to play the golf game) using a camera or a smart device with a built-in camera to trace the ball. Golf balls generally fly at a high speed, and it is difficult by human visual detection to trace a ball from a hit until the ball lands. Therefore, it is desired to provide a camera which can automatically film golfer's swing and flying of a ball all the way until the ball lands. In existing technology, to determine the direction where the ball goes after hit, will be done manually. Firstly, user needs to turn the camera facing where he expects the ball to land after his hit and camera will memorize the direction. Afterward, camera will consequently turn to locate golfer. Once ball being hit and detected, the camera will turn from golfer to the recorded direction and film the video when ball lands.
Technical ProblemAn aspect of the present invention is to provide a camera system for filming a golf game automatically. By utilizing imaging processing technique, camera system can capture the golfer and his/her related swing, detecting the ball and direction of hit including velocity of the ball, and film the golf ball landing without tracing the ball.
Solution to Problem Technical SolutionIn training lesson of golfer, coach will always teach student to use two legs standing in parallel to the target line of hit. That is the stand of two legs always in parallel to the target line of hit. Camera system utilize this golf basic step to find the direction of the ball after hitting.
In one embodiment of the invention, the camera module comprises a single camera. The single camera is a zoom camera and includes a zoom lens. The zoom levels of the camera are controlled according to the velocity of the ball.
In another embodiment of the invention, the camera module includes two cameras. One is with prime lens and the other is with optical zoom lens. By placing the camera system in front of the golfer hitting location and with prime lens camera facing the ball on the ground, the algorithm can detect the ball through some image object recognition techniques. After scanned the location of ball, it will wait for golfer to walk in the ball near-by position so that the image of his/her legs can be identified accordingly and automatically. In the process, it measures the distances between ball and legs, the algorithm can estimate the angle that the camera must turn in order to parallel with the target line of hit. Once the ball is detected being hit by the prime lens, the camera with zoom lens will turn towards the target line of hit to film the ball landing scene until the ball stop rolling. Zoom lens will zoom with different levels according to the estimated velocity of the ball.
In another embodiment of the invention, only prime (fixed) lens without zoom lens are used. There can be an array of 3 lens which are in combination of prime lens and wide angle lenses with different focal lengths. To cover the range of golf ball flight, it can be divided into three 3 ranges. As the camera system can detect the velocity of ball being hit, hence the distance of the ball fly can be estimated. With the distance known, the camera system will activate the corresponding camera to capture the video accordingly.
Advantageous Effects of Invention Advantageous EffectsThe end result of the captured video is a complete record of a golfer's hit; from swing to ball landing. It applies to different situation of golf during golf play; from Tee off with a driver, wood/iron hit on fairway, short game on chipping, bunker shot and putting respectively.
It will be appreciated that for simplicity and clarity of illustration, where appropriate, reference numerals have been repeated among the different figures to indicate corresponding or analogous elements. In addition, numerous specific details are set forth in order to provide a thorough understanding of the embodiments described herein. However, it will be understood by those of ordinary skill in the art that the embodiments described herein can be practiced without these specific details. In other instances, methods, procedures, and components have not been described in detail so as not to obscure the related relevant feature being described. The drawings are not necessarily to scale and proportions of certain parts may be exaggerated to better illustrate details and features. The description is not to be considered as limiting the scope of the embodiments described herein.
Only one definition that applies throughout this disclosure will now be presented.
The term “comprising” means “including”, but not necessarily limited to, it specifically indicates open-ended inclusion or membership in a so-described combination, group, series, and the like.
Embodiments of the present disclosure will be described with reference to the accompanying the drawings.
The present invention provides a camera system for filming a golf game. As shown in
Referring to
Concept of Direct Target Line (DTL) is illustrated in detail with
For skilled golfers, they may play the ball intentionally more towards right or left e.g. draw and slice the ball etc. The DTL is the final landing direction the golfer expects the ball to fly. It can be different from his final two-legs stand location. The camera system only scan his/her first legs location to determine the angle for camera to turn to. After recording the angle, golfer can stand differently from the DTL to perform draw and slice actions.
The present invention also provides a method for filming a golf game, in accordance with an exemplary embodiment of the camera system in the present invention.
In step 300, camera is firstly inserted on the ground facing the direction of golf ball in hitting area. In step 301, the ball is being scanned in the camera images and its location is determined. In step 302, golfer walks into the hitting area that image is being scanned and golfer body is determined. In Step 303, camera determines the legs of the golfer. According to the location of left and right legs as well as the ball, three vertical lines are drawn (see
For example, in
Sheet 1 shows the relationship of D1 And D2 and its ratio and DTL angle.
Sheet 1
In step 304, golfer hits the ball and camera images are being analyzed to determine if the ball has been successfully hit by the golfer.
In step 305, the pan-tilt head 12 is controlled to pan the camera module 100 to the hitting direction parallel to the angle of the DTL calculated in step 303 so as to film the ball flying and landing, without actually tracing the ball.
Sheet 2
In step 306, filming stops when a flight duration of the ball corresponding to the hitting distance elapses. In this embodiment, the camera module 100 stores relationships (Sheet 2) recording flight duration and velocity of the ball and hitting distances. Each range of hitting distance corresponds to one flight duration. For example, if the range of hitting distance is from 150 yards to 180 yards, the velocity is measured to be V6, the flight duration of the ball will be 6 seconds. The relationships are obtained according to the golfer's experience.
Embodiment 1Referring to
Alternatively, in
The zoom levels of the zoom lens 212 are also controlled according to the velocity of the ball after hitting as calculated from step 304, which is similar to the zoom levels of the camera 11 in embodiment 1.
Embodiment 3Only use prime (fixed) lens without zoom lens. There can be an array of 3 lens (A, B C) which are in combination of prime lens and wide angle lenses with different focal lengths. To cover the range of golf ball flight, it can be divided into three (3) ranges e.g. A for 1-100 yards; B for 100-200 yards; C for over 200 yards etc. As the camera system can detect the velocity of ball being hit, hence the distance of the ball fly can be estimated. With the distance known, the camera system will activate the corresponding camera to capture the video accordingly, e.g. if the ball detected flying distance is 160 yards, the camera B will be activated to capture the video.
Sheet 3
The present invention also provides a method to determine the golf ball location, golfer body and golfer's legs and generate a DTL. Given that the golfer is standing in front of the ball and with a typical preparation stand during addressing, it is known that the initial addressing (preparation stand) of golfer have a strong and known relationship to his/her intended target direction of ball traveling after hit. By capturing a sequence of images of this scene (at the preparation stage of the golfer hitting the ball), it can estimate the intended target direction of the ball, i.e. DTL (Direct Target Line), with respect to the camera view.
A method to determine the golf ball location, golfer body and golfer's legs and generate a DTL comprises following steps:
determining the location of the ball in the scene by using multi-model image correlation;
determining the location of the golfer by using Background Modeling;
cleaning the model of golfer;
using the golfer model to calculate the distance between the legs of the golfers and to determine middle of two legs;
mapping the output of the relationship function to the DTL angle with a predetermined mapping function.
Therein,
1. Ball Localization Using Multi-Model Image Correlation
building of the ball models: capturing image of balls at different scale and lighting conditions m(l,s), wherein l and s is lighting and scale parameter respectively;
using the correlation function coff(im, m(l,s)), coff is a template matching function, and search for the location with minimum coff with the use of all the ball models. This implies the location with the minimum values will be considered as the highest possible location of golf ball.
2. Localization of the Golfer Using Background Modeling
After the location of the ball in the image is determined, based on this particular location in the image, the neighborhood area around the location of the ball will be selected, the size of the selected area will be subject to the size of the ball in the image. This area will be modeled based on the model pixel value of all location under stable condition.
First model is the one with background and without the golfer Mwg
Second model is the one with background and with the golfer Mg
Both models are built based on the temporal filtering, when the image is stable or without any change, the machine records the image model.
Finally, by subtracting the Mwg by Mg, then the result will be the model of golfer.
3. Segmented Region Filtering
The result from the process of step 2 is the model of golfer, however it is required to eliminate some artifacts caused by noise and shadows. The small blob/regions are eliminated by morphological dilation operation.
Then edge detection is performed on the image, then the unwanted one is eliminated based on threshold of its orientation.
4. Estimation of the Position of Golfer's Legs
The result from the process of step 3 is a set of edges that reflected the vertical line of the golfer's legs. The process approximates the location of the pant by measuring the occurrence of the vertical line along the horizontal side of the camera view.
There should be three peaks if we plot the occurrence of edges against the x-direction of image space. Then using some histogram peak finding techniques to search for the local peaks. In our implementation, we are using hill-climbing techniques.
5. Relationship Function Rel(p, b) Between Golfer's Stand Position and Ball
Relationship function is with the input, position of the legs, p, and position of the ball, b. The function itself is based on the ratio between the width of the legs and distance from the ball to the middle of the legs.
6. Mapping Function d(Rel) Maps the Relationship Rel(p, b) to Turning Angle DTL
In this process, the machine will map the rel value to the turning angle. The mapping function is determined by a combination of theoretical and empirical method.
Claims
1. A camera system for filming a golf game, comprising:
- a camera module for capturing images;
- a pan-tilt head pivotally connected to the camera module and configured to rotate the camera module horizontally and vertically;
- a sensor unit sensing the direction, vertical angle, and horizontal angle of the camera module; and
- a central processing unit electrically connected to the camera module, the pan-tilt head and the sensor unit;
- wherein the central processing unit is configured to control the camera module, the pan-tilt head and the sensor unit to film the golf ball.
2. The camera system of claim 1, wherein the central processing unit is also configured to determine locations of a golf ball and a golfer.
3. The camera system of claim 2, wherein the central processing unit is also configured to calculate an angle of a direct target line (DTL) according to the locations of the golf ball and the golfer.
4. The camera system of claim 1, wherein the central processing unit is also configured to determine an angle for the camera module to turn to.
5. The camera system of claim 1, wherein the central processing unit is also configured to calculate a golf ball velocity, hitting angle and hitting distance.
6. The camera system of claim 1, wherein the central processing unit is also configured to control the pan-tilt head to pan the camera module to the hitting direction parallel to the angle of the direct target line (DTL).
7. The camera system of claim 1, wherein the central processing unit is also configured to determine a flight range and a flight duration of the golf ball corresponding to the hitting distance.
8. The camera system of claim 1, wherein the central processing unit is also configured to determine whether or not a ball has been successfully hit by the golfer by determining whether or not the ball has passed through a sensitivity zone which is an area between the golfer and a target landing point.
9. The camera system of claim 3, wherein the central processing unit is configured to calculate an angle of a direct target line according to a location of the golf ball and a first point and a second point on the golfer body.
10. The camera system of claim 9, wherein the first point on the golfer body is the left leg of the golfer, the second point on the golfer body is the right leg of the golfer.
11. The camera system of claim 1, wherein the camera module is a single zoom camera.
12. The camera system of claim 11, zoom levels of the single zoom camera are controlled according to the calculated golf ball velocity.
13. The camera system of claim 1, wherein the camera module comprises a first camera and a second camera, the first camera is configured to perform image processing for golfer image; ball velocity; and angle for the second camera to turn, the second camera is configured to take video of golfer's swing and ball landing.
14. The camera system of claim 13, wherein the first camera is a prime lens camera or a fish eye lens camera.
15. The camera system of claim 13, wherein the second camera is a zoom lens camera.
16. The camera system of claim 15, zoom levels of the second zoom camera are controlled according to the calculated golf ball velocity.
17. The camera system of claim 1, wherein the camera module comprises at least three prime lens cameras with different focal lengths configured to cover different flight ranges of the golf ball.
18. The camera system of claim 17, wherein the camera module comprises three prime lens cameras which are a first prime lens camera, a second prime lens camera and a third prime lens camera wherein a flight range of the golf ball covered by the first prime lens camera is 1-100 yards, a flight range of the golf ball covered by the second prime lens camera is 100-200 yards, a flight range of the golf ball covered by the third prime lens camera is more than 200 yards.
19. The camera system of claim 18, wherein the central processing unit is configured to determine the flight range of the golf ball and activate a corresponding camera to capture a video of the ball landing.
20. The camera system of claim 1, further comprising a wireless communication unit arranged on the circuit board and configured to communicate the camera with a portable device.
21. The camera system of claim 1, further comprising a GPS module.
22. The camera system of claim 1, further comprising a circuit board electrically connected to the camera module and the pan-tilt head.
23. A method for filming a golf game by using the camera system of claim 1, comprising the following steps:
- determining locations of a golf ball and a golfer;
- calculating an angle of a DTL according to the locations of the golf ball and the golfer;
- determining an angle for the camera module to turn to;
- calculating a golf ball velocity, hitting angle and hitting distance;
- controlling the pan-tilt head to pan the camera module to the hitting direction parallel to the angle of the direct target line;
- determining a flight range and a flight duration of the golf ball corresponding to the hitting distance; and
- activating the camera module to film the golf ball until the flight duration elapses.
24. A method to determine a golf ball location, golfer location and generate a direct target line (DTL) comprises following steps:
- determining the location of the ball in the scene by using multi-model image correlation;
- determining the location of the golfer by using Background Modeling;
- cleaning the model of golfer;
- using the golfer model to calculate the distance between two points on the golfer body and to determine middle of the two points;
- estimating a value based on a relationship function with the input values;
- mapping the output of the relationship function to the DTL angle with a predetermined mapping function.
25. The method of claim 24, wherein the multi-model image correlation comprises the following steps:
- building of the ball models comprising the step of capturing image of balls at different scale and lighting conditions m(l,s), wherein l and s is lighting and scale parameter respectively; and
- using the correlation function coff(im, m(l,s)), wherein coff is a template matching function, and search for the location with minimum coff with the use of all the ball models.
26. The method of claim 24, wherein the Background Modeling comprises the following steps:
- selecting a neighborhood area around the location of the ball after the location of the ball in the image is determined, based on this particular location in the image, wherein the size of the selected area will be subject to the size of the ball in the image;
- modeling the selecting area based on a model pixel value of all location under stable condition;
- building a first model and a second model based on the temporal filtering, when the image is stable or without any change, the machine records the image model, wherein the first model is the one with background and without the golfer Mwg, and the second model is the one with background and with the golfer Mg
- subtracting the Mwg by Mg, and generating the model of golfer.
27. The method of claim 24, wherein the relationship function is based on the ratio between the width of the two points on the golfer body and a distance from the ball to the middle of the legs.
Type: Application
Filed: Apr 24, 2019
Publication Date: Oct 3, 2019
Applicant:
Inventor: King Bong WONG (Hong Kong)
Application Number: 16/393,196