ASSEMBLY COMPRISING A RADAR AND AN IMAGING ELEMENT

• US 20110286632A1
• Filed: 01/29/2010
• Published: 11/24/2011
• Est. Priority Date: 07/02/2004
• Status: Abandoned Application

• Current Assignee: Trackman A/S
• Original Assignee: Trackman A/S
• Inventors: Tuxen, Fredrik, Brink, Frederik Ettrup
• Application Number:
  US13/138,167
• Publication Number:
  US 20110286632A1
• Time in Patent Office: Days
• US Class Current: 382/103
• CPC Class Codes: A63B 2024/0031 at the starting point
• CPC Class Codes: A63B 2024/0034 during flight
• CPC Class Codes: A63B 2071/0636 3D visualisation
• CPC Class Codes: A63B 2071/065 Visualisation of specific exercise parameters
• CPC Class Codes: A63B 2102/02 Tennis
• CPC Class Codes: A63B 2102/16 Table tennis
• CPC Class Codes: A63B 2102/18 Baseball, rounders or similar games
• CPC Class Codes: A63B 2102/20 Cricket
• CPC Class Codes: A63B 2102/32 Golf
• CPC Class Codes: A63B 2220/05 Image processing for measuring physical parameters
• CPC Class Codes: A63B 2220/12 Absolute positions, e.g. by using GPS
• CPC Class Codes: A63B 2220/20 Distances or displacements
• CPC Class Codes: A63B 2220/30 Speed
• CPC Class Codes: A63B 2220/35 Spin
• CPC Class Codes: A63B 2220/806 Video cameras
• CPC Class Codes: A63B 2220/807 Photo cameras
• CPC Class Codes: A63B 2220/89 Field sensors, e.g. radar systems
• CPC Class Codes: A63B 2243/0025 Football
• CPC Class Codes: A63B 2243/0033 Handball
• CPC Class Codes: A63B 2243/0037 Basketball
• CPC Class Codes: A63B 2243/0095 : Volleyball
• CPC Class Codes: A63B 24/0003 : Analysing the course of a movement or motion sequences during an exercise or trainings sequence, e.g. swing for golf or tennis
• CPC Class Codes: A63B 24/0021 : Tracking a path or terminating locations
• CPC Class Codes: A63B 60/46 : Measurement devices associated with golf clubs, bats, rackets or the like for measuring physical parameters relating to sporting activity, e.g. baseball bats with impact indicators or bracelets for measuring the golf swing
• CPC Class Codes: A63B 69/36 : for golf
• CPC Class Codes: A63B 69/3623 : for driving A63B69/3608, A63B69/3658, A63B69/3661, A63B69/3667 and A63B69/3691 take precedence
• CPC Class Codes: A63B 69/3658 : Means associated with the ball for indicating or measuring, e.g. speed, direction
• CPC Class Codes: A63B 71/06 : Indicating or scoring devices for games or players , or for other sports activities
• CPC Class Codes: A63B 71/0605 : Decision makers and devices using detection means facilitating arbitration
• CPC Class Codes: A63B 71/0619 : Displays, user interfaces and indicating devices, specially adapted for sport equipment, e.g. display mounted on treadmills
• CPC Class Codes: G06F 18/22 : Matching criteria, e.g. proximity measures
• CPC Class Codes: G06T 2207/10044 : Radar image
• CPC Class Codes: G06T 2207/30221 : Sports video; Sports image
• CPC Class Codes: G06T 2207/30224 : Ball; Puck
• CPC Class Codes: G06T 2207/30241 : Trajectory
• CPC Class Codes: G06T 3/02 : Affine transformations for image registration G06T3/147; for image mosaicing G06T3/4038
• CPC Class Codes: G06T 7/246 : using feature-based methods, e.g. the tracking of corners or segments
• CPC Class Codes: G06T 7/248 : involving reference images or patches
• CPC Class Codes: G06T 7/32 : using correlation-based methods
• CPC Class Codes: G06T 7/60 : Analysis of geometric attributes
• CPC Class Codes: G06T 7/73 : using feature-based methods
• CPC Class Codes: G06T 7/74 : involving reference images or patches
• CPC Class Codes: H04N 23/00 : Cameras or camera modules comprising electronic image sensors; Control thereof

Abstract

An assembly comprising a radar and a camera for both deriving data relating to a golf ball and a golf club at launch, radar data relating to the ball and club being illustrated in an image provided by the camera. The data illustrated may be trajectories of the ball/club/club head, directions and/or angles, such as an angle of a face of the golf club striking the ball, the lie angle of the club head or the like. An assembly of this type may also be used for defining an angle or direction in the image and rotating e.g. an image of the golfer to have the determined direction or angle coincide with a predetermined angle/direction in order to be able to compare different images.

Claims

1. An assembly comprising a radar and an imaging device both adapted to provide information relating to a plurality of objects, the assembly further comprising a controller adapted to:

receive radar data from the radar and an image from the imaging device

determine, from the radar data, movement and/or position data of objects imaged by the imaging device and positioned in a field of view of the radar, the movement/position data describing positions, directions, trajectories or planes of movement of the objects and

provide data relating to the movement/position data in the image, the data relating to the movement/position illustrating the positions/trajectories/planes/directions in the image.

2. An assembly according to claim 1, wherein the controller is adapted to identify, from the radar data and/or the image, a position of impact of two of the objects and illustrate:

for a first of the objects at least one of;

a trajectory, a 3D launch vector and spin after impact and

for a second of the objects at least one of trajectory, direction/angle of movement and 3D impact vector at impact.

3. An assembly according to claim 2, adapted to provide information relating to an impact between a golf club and a golf ball, the golf ball being the first of the objects and the golf club being the second of the objects.

4. An assembly according to claim 3, wherein the controller is adapted to determine and illustrate one or more of:

a face angle of the club at impact,

a relation between the ground and an axis of a club head of the club at impact, and

a point of impact of the club head.

5. An assembly according to claim 1, wherein the controller is adapted to adapt an image in relation to radar data obtained at least substantially simultaneously with the image.

6. An assembly according to claim 1, wherein the radar and imaging device are fixed in relation to each other so that a field of view of the radar overlaps with a field of view of the imaging device.

7. An assembly according to claim 1, further comprising a deriving element adapted to derive position data relating to a flying object imaged by the imaging device and positioned in a field of view of the radar, the deriving means deriving the position data from both the radar data and the image.

8. An assembly according to claim 1, wherein the controller is adapted to determine one or more positional relationships between elements identifiable in the image.

14. An assembly according to claim 1, further comprising a second imaging device, the second imaging device being calibrated in relation to the imaging device and/or the radar.

15. An assembly according to claim 14, wherein the controller is adapted to receive an image from the second imaging device and adapt the image thereof in relation to the radar data.

9. An assembly comprising a radar and an imaging device both adapted to provide information relating to one or more objects, the assembly further comprising a controller adapted to receive radar data from the radar and an image from the imaging device and adapt the image in relation to the radar data, the assembly further comprising a processing element adapted to receive an image from the imaging device, identify an element therein and generate an altered image in which the element seems rotated.

10. An assembly according to claim 9, wherein the processing element is adapted to determine, from the radar data and/or the image, a predetermined direction or axis, and to provide the altered image wherein the direction or axis is rotated into a predetermined direction or axis.

11. An assembly according to claim 10, further comprising a storage element storing the altered image and providing this at a later point in time for comparison with a second, altered image.

12. An assembly according to claim 9, wherein the processing element is adapted to, in the altered image, provide data relating to the radar data, the relating data provided being rotated correspondingly.

13. An assembly according to claim 12, further comprising a storage element storing the rotated data and provide this at a later point in time for comparison with second, rotated data.

16. A system comprising an assembly comprising a radar and an imaging device both adapted to provide information relating to one or more objects, the assembly further comprising a controller adapted to receive radar data from the radar and an image from the imaging device and adapt the image in relation to the radar data, the system further comprising one or more radar reflecting elements positioned in predetermined positions in relation to the assembly, the radar being adapted to provide information relating to a relative position, distance/direction and/or angle/rotation between the reflecting element(s) and the assembly, the controller being adapted to adapt an image received from the imaging device in accordance with the relative position/angle/rotation/direction/distance.

17. A system according to claim 16, further comprising a receiver adapted to receive information relating to a position or area in the surroundings of the assembly, the controller being adapted to provide, in the image, information relating to the position or area.

18. A system according to claim 16, wherein the assembly is rotatable in relation to the surroundings, and wherein the controller is adapted to estimate a rotation or rotational position from relative position(s) of the reflecting element(s).

19. A system according to claim 17, wherein the controller is adapted to highlight the position or area in the image.

20. A method of operating an assembly comprising a radar and an imaging device, the method comprising:

the radar and imaging device providing information relating to a plurality of objects, the radar outputting radar data and the imaging device outputting an image,

determining, from the radar data, movement and/or position data, of objects imaged by the imaging device and positioned in a field of view of the radar, the movement/position data describing positions, directions, trajectories or planes of movement of the objects and

providing data relating to the movement/position data in the image, the data relating to the movement/position illustrating the positions/trajectories/planes/directions in the image.

21. A method according to claim 20, wherein the determining step comprises identifying, from the radar data and/or the image, a position of impact of two of the objects, the providing step comprising illustrating:

for a first of the objects at least one of;

a trajectory, a 3D launch vector and spin after impact and

for a second of the objects at least one of trajectory, direction/angle of movement and 3D impact vector at impact.

22. A method according to claim 21, wherein the determining step comprises providing information relating to an impact between a golf club and a golf ball, the golf ball being the first of the objects and the golf club being the second of the objects.

23. A method according to claim 22, wherein the determining step comprises determining one or more of, and the providing step comprises illustrating one or more of:

a face angle of the club at impact,

a relation between the ground and an axis of a club head of the club at impact, and

a point of impact of the club head.

24. A method according to claim 20, wherein the radar data are obtained at least substantially simultaneously with the image.

25. A method according to claim 20, further comprising the initial step of fixing the radar and imaging device in relation to each other so that a field of view of the radar overlaps with a field of view of the imaging device.

26. A method according to claim 20, further comprising the step of deriving position data relating to a flying object imaged by the imaging device and positioned in a field of view of the radar, the deriving step comprising deriving the position data from both the radar data and the image.

27. A method according to claim 20, further comprising the step of determining one or more positional relationships between elements identifiable in the image.

28. A method according to claim 20, further comprising the step of identifying, in an image, an element therein and generating an altered image in which the element seems rotated.

31. A method according to claim 28, wherein the step of providing the altered image comprises providing, in the altered image, data relating to the radar data, the relating data provided being rotated correspondingly.

32. A method according to claim 31, further comprising the step of storing the rotated data and providing this at a later point in time for comparison with second, rotated data.

33. A method according to claim 20, further comprising the step of a second imaging device generating a second image, the second imaging device being calibrated in relation to the imaging device and/or the radar.

34. A method according to claim 33, further comprising the steps of the second imaging device generating an image and adapting the image in relation to the radar data.

29. A method of operating an assembly comprising a radar and an imaging device, the method comprising:

the radar and imaging device providing information relating to one or more objects, the radar outputting radar data and the imaging device outputting an image,

adapting the image in relation to the radar data,

the method further comprising determining, from the radar data and/or the image, a predetermined direction or axis, and wherein the step of providing the altered image comprises providing an altered image wherein the direction or axis is rotated into a predetermined direction or axis.

30. A method according to claim 29, further comprising storing the altered image and providing this at a later point in time for comparison with a second, altered image.

35. A method of operating an assembly comprising a radar and an imaging device both adapted to provide information relating to one or more objects, the assembly further comprising a controller adapted to receive radar data from the radar and an image from the imaging device and adapt the image in relation to the radar data in an environment comprising one or more radar reflecting elements positioned in predetermined positions in relation to the assembly, the method comprising:

the radar providing information relating to a relative direction/distance, position and/or angle/rotation between the reflecting element(s) and the assembly, and

adapting an image received from the imaging device in accordance with the relative direction/distance/position/angle/rotation.

36. A method according to claim 35, further comprising the step of receiving information relating to a position or area in the surroundings of the assembly and providing, in the image, information relating to the position or area.

37. A method according to claim 35, further comprising the step of rotating the assembly in relation to the surroundings, and estimate a rotation or rotational position from relative position(s) of the reflecting element(s).

38. A method according to claim 36, wherein the adapting step comprises highlighting the position or area in the image.