Method and system for real time judging boundary lines on tennis court

• US 8,199,199 B1
• Filed: 08/15/2007
• Issued: 06/12/2012
• Est. Priority Date: 08/15/2007
• Status: Active Grant

• Current Assignee: Vladimir Komarov, Yuriy Shlyak
• Original Assignee: Vladimir Komarov, Yuriy Shlyak
• Inventors: Shlyak, Yuriy, Komarov, Vladimir
• Primary Examiner(s): Chan, Wing
• Assistant Examiner(s): Katsikis, Kostas
• Application Number:
  US11/839,530
• Time in Patent Office: 1,763 Days
• Field of Search: 382/100, 382/312, 382/106, 382/194, 473/467
• US Class Current: 348/157
• CPC Class Codes: A63B 2071/0611 Automatic tennis linesmen, i.e. in-out detectors
• CPC Class Codes: A63B 2220/806 Video cameras
• CPC Class Codes: A63B 71/0605 Decision makers and devices using detection means facilitating arbitration
• CPC Class Codes: G06T 2207/10016 Video; Image sequence
• CPC Class Codes: G06T 2207/10048 Infrared image
• CPC Class Codes: G06T 2207/30224 Ball; Puck
• CPC Class Codes: G06T 2207/30241 Trajectory
• CPC Class Codes: G06T 7/70 Determining position or orientation of objects or cameras camera calibration G06T7/80

Abstract

There is provided a method and a system for registration of real time position of tennis ball relatively to boundary lines on tennis court. The method and system comprise sensitive to near-infrared radiation at least one video camera, outputting video image of court and the method and system further include at least one point source of near-infrared radiation, illuminating tennis court and displaced relatively to the video camera. It is suggested a simple and inexpensive way of determining if a tennis ball bounces in or out of court by determining point of intersection of trajectories of the tennis ball and its shade from near-infrared radiation and comparing the position of the determined point of intersection with previously calibrated boundary lines of court.

Claims

1. A method for real time judging boundary lines on a tennis court in order to determine whether a tennis ball in play bounces in or out of said court, said method using radiation at least one video camera outputting a video image of said court, said method using at least one said video camera sensitive to near-infrared radiation, and said method using at least one point source of near-infrared radiation, illuminating said court and displaced relative to said at least one video camera, said method comprising:

continuously obtaining frames of the video image of said court;

within said frames of the video image, locating moving objects;

comparing said moving objects to previously calibrated images of said tennis ball and its shadow from said at least one point source of near-infrared radiation so as to filter out any moving object which is not said tennis ball or its shadow and to distinguish said tennis ball and its shadow;

fitting a path of said tennis ball and a path of its shadow into two independent trajectories correspondingly;

detecting a spot on said court where said tennis ball bounces by locating a point of intersection of said two trajectories;

determining whether said tennis ball is in or out of the court by comparing coordinates of said spot with a location of previously calibrated boundary lines of the court;

and generating an output signal if said tennis ball is determined to be out of the court,

wherein said step of comparing said moving objects to previously calibrated images of said tennis ball and its shadow from said at least one point source of near-infrared radiation so as to filter out any moving object which is not said tennis ball or its shadow and to distinguish said tennis ball and its shadow, and said step of fitting a path of said tennis ball and a path of its shadow into two independent trajectories correspondingly,

further comprise;

in a digital image of moving objects, an amplitude of every non-zero amplitude pixel is set equal to zero, if said pixel does not have approximately equal amplitude pixels around it in a circle having said pixel in the center of said circle, and said circle having a radius approximately equal to the radius of the image of said tennis ball;

an amplitude of each remaining non-zero amplitude pixel is set equal to zero, if there are no pixels with the same amplitude in closest proximity of said each remaining non-zero amplitude pixel; and

remaining two arcs of pixels of higher and lower amplitudes are considered trajectories of said tennis ball and its shadow correspondingly.

2. A system for real time judging boundary lines on a tennis court in order to determine whether a tennis ball in play bounces in or out of said court, said system comprising at least one video camera outputting a video image of said court, said system using at least one said video camera sensitive to near-infrared radiation, and said system using at least one point source of near-infrared radiation illuminating said court and displaced relative to said at least one video camera, and said system further comprising an image processing system including:

at least one frame grabber, connected to a corresponding video camera, at least one frame memory, at least one look-up-table, and a computer, connected by an I/O interface, said image processing system configured to process frames of the video image of said court to locate moving objects, to discriminate among said moving objects said tennis ball and its shadow from at least one point source of near-infrared radiation by comparison with previously calibrated images of said tennis ball and its shadow, to fit a path of said tennis ball and a path of its shadow into two independent trajectories correspondingly, to detect a spot on said court where said tennis ball bounces by locating a point of intersection of two said trajectories, to determine whether said tennis ball is in or out of said court by comparing coordinates of said spot with a location of previously calibrated boundary lines of said court; and

to generate an output signal through said I/O interface if said tennis ball is determined to be out of said court, wherein said steps of discriminating said tennis ball and its shadow and fitting a path of said tennis ball and a path of its shadow into two independent trajectories correspondingly, further comprise;

in a digital image of moving objects, an amplitude of every non-zero amplitude pixel is set equal to zero, if said pixel does not have approximately equal amplitude pixels around it in a circle having said pixel in the center of said circle, and said circle having a radius approximately equal to the radius of the image of said tennis ball;

an amplitude of each remaining non-zero amplitude pixel is set equal to zero, if there are no pixels with the same amplitude in closest proximity of said each remaining non-zero amplitude pixel; and

remaining two arcs of pixels of higher and lower amplitudes are considered trajectories of said tennis ball and its shadow correspondingly.