TRACKING OF HANDHELD SPORTING IMPLEMENTS USING COMPUTER VISION

• US 20200082163A1
• Filed: 11/13/2019
• Published: 03/12/2020
• Est. Priority Date: 03/16/2016
• Status: Active Grant

• Current Assignee: Sportsmedia Technology Corporation
• Original Assignee: Sportsmedia Technology Corporation
• Inventors: Painter, James G.
• Granted Patent: US 10,776,616 B2
• Time in Patent Office: Days
• CPC Class Codes: G06T 2207/10021 Stereoscopic video; Stereoscopic image sequence
• CPC Class Codes: G06T 2207/30221 Sports video; Sports image
• CPC Class Codes: G06T 2207/30241 Trajectory
• CPC Class Codes: G06T 7/215 Motion-based segmentation
• CPC Class Codes: G06T 7/254 involving subtraction of images
• CPC Class Codes: G06T 7/292 Multi-camera tracking
• CPC Class Codes: G06V 10/40 Extraction of image or video features
• CPC Class Codes: G06V 10/467 Encoded features or binary features, e.g. local binary patterns [LBP]
• CPC Class Codes: G06V 20/10 Terrestrial scenes scenes under surveillance with static cameras G06V20/52; scenes perceived from the exterior of a vehicle G06V20/56; scenes perceived from the interior of a vehicle G06V20/59
• CPC Class Codes: G06V 40/25 Recognition of walking or running movements, e.g. gait recognition
• CPC Class Codes: H04N 23/90 Arrangement of cameras or camera modules, e.g. multiple cameras in TV studios or sports stadiums
• CPC Class Codes: H04N 5/2625 for obtaining an image which is composed of images from a temporal image sequence, e.g. for a stroboscopic effect sequence generated by event triggered capturing H04N7/188

Abstract

A path and/or orientation of object approaching an athlete is tracked using two or more cameras. At least two sets of images of the object are obtained using at least two different cameras having different positions. Motion regions within images are identified, and candidate locations in 2D space of the object are identified within the motion region(s). Based thereon, a probable location in 3D space of the identifiable portion is identified, for each of a plurality of instants during which the object was approaching. A piecewise 3D trajectory of at least the identifiable portion of the object is approximated from the probable locations in 3D space of the object for multiple instants during which the object was approaching the athlete. A graphical representation of the 3D trajectory of the object is incorporated into at least one of the sets of images.

Claims

1. A method for tracking a sporting implement during a sporting event, comprising:

at least one processor constructed and configured for receiving at least two sets of images of the sporting implement;

the at least one processor identifying at least one motion region in the at least two sets of images; and

the at least one processor superimposing a representation of a trajectory of the sporting implement over at least one of the at least two sets of images.

2. The method of claim 1, further comprising the at least one processor identifying a first location of the sporting implement within the at least one motion region and a second location of the sporting implement based on the first location.

3. The method of claim 1, further comprising the at least one processor approximating the trajectory of the sporting implement based on a multiplicity of probable locations of the sporting implement, and wherein the trajectory of the sporting implement is extrapolated beyond a timespan covered by the at least two sets of images of the sporting implement.

4. The method of claim 1, further comprising the at least one processor filtering out at least one false positive candidate location of the sporting implement based on an elliptical motion arc of the sporting implement.

5. The method of claim 1, further comprising the at least one processor displaying the representation of the trajectory of the sporting implement on a display.

6. The method of claim 1, wherein the sporting implement is a handheld sporting implement, and wherein the handheld sporting implement does not include a straight shaft.

7. The method of claim 1, wherein the at least two sets of images includes an object moving toward the sporting implement, and further comprising the at least one processor identifying a trajectory of the object moving toward the sporting implement.

8. The method of claim 1, further comprising the at least one processor identifying an approximate center of motion of the sporting implement and the at least one processor identifying at least one first location based on the approximate center of motion of the sporting implement.

9. A system for tracking a sporting implement during a sporting event, comprising:

at least one processor constructed and configured for receiving at least two sets of images of the sporting implement over a network;

wherein the at least one processor is operable to identify at least one motion region in the at least two sets of images;

wherein the at least one processor is further configured to approximate a trajectory of the sporting implement based on a location of the sporting implement; and

wherein the at least one processor is further configured to superimpose a representation of the trajectory of the sporting implement over at least one of the at least two sets of images.

10. The system of claim 9, wherein the location of the sporting implement is within the at least one motion region, and wherein the at least one processor is further operable to identify a second location of the sporting implement based on the location of the sporting implement.

11. The system of claim 9, wherein the at least one processor is operable to identify the location as at least one candidate location for the sporting implement, determine a corresponding line of position in space for the at least one candidate location, and identify a second location as a probable location in space of the sporting implement.

12. The system of claim 9, wherein the at least one processor is operable to identify a probable location of the sporting implement based on one of the at least two sets of images of the sporting implement.

13. The system of claim 9, wherein the at least one processor is operable to generate an error score for at least one probable location of the sporting implement, and wherein the at least one probable location is filtered out when the error score exceeds a location threshold score.

14. The system of claim 9, wherein the at least one processor is operable to filter out at least one false positive second location based on an expected unidirectional path of the sporting implement.

15. A system for tracking a sporting implement during a sporting event, comprising:

at least one processor constructed and configured for network communication with at least two cameras configured to capture at least two sets of images of the sporting implement;

wherein the at least one processor is configured to receive the at least two sets of images of the sporting implement and approximate a trajectory of the sporting implement based on the at least two sets of images; and

wherein the at least one processor is further configured to superimpose a representation of the trajectory of the sporting implement over at least one of the at least two sets of images.

16. The system of claim 15, wherein the at least one processor is configured to approximate the trajectory of the sporting implement based on a physics model of the sporting implement in motion.

17. The system of claim 15, wherein the at least one processor is configured to identify a first location of the sporting implement within at least one motion region and identify a second location of the sporting implement based on the first location.

18. The system of claim 15, wherein the trajectory of the sporting implement includes a multiplicity of trajectory pieces that collectively form the trajectory of the sporting implement.

19. The system of claim 15, wherein the at least two cameras are configured using a set of physical markers placed at the sporting event.

20. The system of claim 15, wherein the at least one processor is further operable to approximate the trajectory of the sporting implement based on a comparison between a minimum distance threshold of the sporting implement and a maximum distance threshold of the sporting implement.