Trajectory detection and feedback system

• US 7,850,552 B2
• Filed: 08/21/2006
• Issued: 12/14/2010
• Est. Priority Date: 09/12/2001
• Status: Active Grant

• Current Assignee: Pillar Vision Incorporated
• Original Assignee: Pillar Vision Incorporated
• Inventors: McGhee, Ridge, Marty, Alan W., Edwards, Thomas A.
• Primary Examiner(s): Laneau; Ronald
• Assistant Examiner(s): HARPER, TRAMAR YONG
• Application Number:
  US11/507,886
• Publication Number:
  US 20070026974A1
• Time in Patent Office: 1,576 Days
• Field of Search: 473/467
• US Class Current: 473/467
• CPC Class Codes: A63B 2024/0034 during flight
• CPC Class Codes: A63B 2220/806 Video cameras
• CPC Class Codes: A63B 2243/0037 Basketball
• CPC Class Codes: A63B 24/0021 Tracking a path or terminating locations
• CPC Class Codes: A63B 69/0071 for basketball
• CPC Class Codes: A63B 71/0605 Decision makers and devices using detection means facilitating arbitration

Abstract

A disclosed device provides a trajectory detection and feedback system. The system is capable of detecting one or more moving volleyballs in free flight, analyzing a trajectory of each volleyball and providing feedback information to a human that has launched the volleyball into flight, and/or one or more observers in the area. The feedback information may include one or more trajectory parameters that the human may use to evaluate their skill at sending the volleyball along a desired trajectory. In a particular embodiment, a non-intrusive machine vision system that remotely detects trajectories of moving volleyballs may be used to evaluate trajectory parameters for a volleyball hit towards a virtual target area by a player.

Claims

1. A sports device comprising:

one or more cameras for recording video frame data used to characterize a trajectory of a volleyball launched by a person wherein the person is attempting to reproduce a particular trajectory of the volleyball and wherein one or more trajectory parameters characteristic of the particular trajectory are derived from a curve-fit of the particular trajectory;

a logic device configured to i) receive selections indicating a plurality of different virtual target areas;

ii) receive the video frame data, iii) recognize the volleyball in the video frame data;

iv) determine a curve-fit for the trajectory of the volleyball captured in the video frame data;

v) determine where the curve-fit for the trajectory of the volleyball captured in the video frame data passes through one of the plurality of different virtual target areas;

vi) determine one or more trajectory parameters that are derived from the curve-fit of the trajectory of the volleyball and vii) based upon the one or more trajectory parameters derived from the curve-fit of the trajectory of the volleyball, generate feedback information related to the trajectory of the volleyball.

2. The sports device of claim 1, wherein the logic device is further configured to compare the one or more trajectory parameters generated from the curve fit of the trajectory of the volleyball to the one or more trajectory parameters of the curve-fit that characterize the particular trajectory of the volleyball that the person is attempting to reproduce.

3. The sports device of claim 1, wherein the feedback information is provided as information that indicates a relative relationship between the one or more trajectories parameters of the trajectory of the volleyball and the one or more trajectory parameters of the particular trajectory that the person is attempting to reproduce.

4. The sports device of claim 1, wherein at least two trajectory parameters characterizing the trajectory of the volleyball are compared to at least two trajectory parameters of the particular trajectory the person is attempting to reproduce.

5. The sports device of claim 4, wherein the feedback information is related to the at least two compared trajectory parameters.

6. The sports device of claim 1, wherein the particular trajectory of the volleyball that the person is attempting to reproduce is an optimal trajectory.

7. The sports device of claim 1, wherein the logic device is further configured to determine whether the trajectory of the volleyball launched by the person passes through a virtual target area.

8. The sports device of claim 7, wherein the feedback information is related to a position or a directional angle of the volleyball along its trajectory relative to a position of the virtual target area.

9. The sports device of claim 7, wherein the virtual target area is a virtual hoop.

10. The sports device of claim 1, wherein one or more the trajectory parameters are selected from the group consisting of a speed, a directional velocity component, a position, a rotation rate, an axis of rotation, a directional angle and a directional acceleration component.

11. The sports device of claim 1, wherein the feedback information is related to a height of the volleyball at a location along its trajectory.

12. The sports device of claim 1, wherein the feedback information is related to a directional angle of the volleyball at a location along its trajectory.

13. The sports device of claim 1, wherein the feedback information is related to a position of the volleyball at location along its trajectory that is proximate, said position determined relative to a target location for the volleyball for which the person is aiming.

14. The sports device of claim 1,

a memory storage device for storing trajectory session information wherein the trajectory session information comprises one or more of 1) physical information, trajectory information and feedback information generated for the plurality of different volleyball trajectories, 2) a trajectory session time, 3) a trajectory session date, 4) a trajectory session location and combinations thereof.

15. The sports device of claim 14, wherein the trajectory session information is associated with a plurality of different volleyball trajectories generated by a particular person.

16. The sports device of claim 1, wherein the feedback information is provided to the person in at least one of a visual format, an auditory format, a kinetic format and combinations thereof.

17. The sports device of claim 1, wherein the feedback information is provided to the person in an auditory format.

18. The sports device of claim 1, further comprising:

a wireless network interface or a wire network interface for connecting the logic device to one of a local area network, a wide area network and the Internet.

19. The sports device of claim 1, further comprising:

a wireless interface for providing communications between the logic device and a portable computing device.

20. The sports device of claim 1, wherein the logic device is further configured to determine the curve-fits for a plurality of different trajectories of the volleyball captured in the video frame data.

21. The sports device of claim 20, wherein the logic device is further configured to determine one or more aggregate trajectory parameters derived from the plurality of different trajectories.

22. The sports device of claim 20, wherein the plurality of different trajectories are launched by a single person.

23. The sports device of claim 1, wherein logic device is further configured to receive a selection of a launch area for the volleyball and determine where the volleyball is launched within the launch area.

24. The sports device of claim 23, wherein the logic device is further configured to output an indication of the launch area.

25. A method in a sports-device including one or more cameras and a processor, the method comprising:

a) receiving video frame data including a trajectory of a volleyball launched by a person wherein the person is attempting to reproduce a particular trajectory of the volleyball and wherein one or more trajectory parameters characteristic of the particular trajectory are derived from a curve-fit of the particular trajectory;

b) recognizing the volleyball in the video frame data;

c) determining a curve-fit for the trajectory of the volleyball captured in the video frame data;

d) receiving selections indicating a plurality of different virtual target areas;

e) determining one or more trajectory parameters that are derived from the curve-fit of the trajectory of the volleyball;

f) determining where the curve-fit for the trajectory of the volleyball captured in the video frame data passes through one of the plurality of different virtual target areas;

g) based upon the one or more trajectory parameters derived from the curve-fit of the trajectory of the volleyball, generating feedback information related to the trajectory of the volleyball.

26. The method of claim 25, further comprising:

repeating steps a) thru c) and e) thru g) for a plurality of different trajectories of the volleyball launched by the person.

27. The method of claim 25, further comprising:

comparing the one or more trajectory parameters generated from the curve fit of the trajectory of the volleyball to one or more trajectory parameters of a curve-fit that characterizes a particular trajectory of the volleyball the person is attempting to reproduce.

28. The method of claim 27, wherein the feedback information is provided as information that indicates a relative relationship between the one or more trajectories parameters of the trajectory of the volleyball and the one or more trajectory parameters of the particular trajectory that the person is attempting to reproduce.

29. A sports device comprising:

one or more cameras for recording video frame data used to characterize a trajectory of a volleyball launched by a person wherein the person is attempting to reproduce a particular trajectory of the volleyball and wherein one or more trajectory parameters characteristic of the particular trajectory are derived from a curve-fit of the particular trajectory;

a logic device configured for each of a plurality of different trajectories launched by the person to i) receive the video frame data, ii) recognize the volleyball in the video frame data;

iii) determine a curve-fit for the trajectory of the volleyball captured in the video frame data;

iv) determine one or more trajectory parameters that are derived from the curve-fit of the trajectory of the volleyball and v) based upon the one or more trajectory parameters derived from the curve-fit of the trajectory of the volleyball, generate feedback information related to the trajectory of the volleyball wherein based upon the curve-fits for each of the plurality of different trajectories and the curve-fit of the particular trajectory, the logic device is configured to

     1) determine a measure of how consistently the person reproduces the particular trajectory and

     2) output the determined measure.

30. The sports device of claim 29, wherein the logic device is further configured to compare the one or more trajectory parameters generated from the curve fit of the trajectory of the volleyball to the one or more trajectory parameters of the curve-fit that characterize the particular trajectory of the volleyball that the person is attempting to reproduce.

31. The sports device of claim 29, wherein the feedback information is provided as information that indicates a relative relationship between the one or more trajectories parameters of the trajectory of the volleyball and the one or more trajectory parameters of the particular trajectory that the person is attempting to reproduce.

32. The sports device of claim 29, wherein at least two trajectory parameters characterizing the trajectory of the volleyball are compared to at least two trajectory parameters of the particular trajectory the person is attempting to reproduce.

33. The sports device of claim 32, wherein the feedback information is related to the at least two compared trajectory parameters.

34. The sports device of claim 29, wherein the particular trajectory of the volleyball that the person is attempting to reproduce is an optimal trajectory.

35. The sports device of claim 29, wherein the logic device is further configured to determine whether the trajectory of the volleyball launched by the person passes through a virtual target area.

36. The sports device of claim 35, wherein the feedback information is related to a position or a directional angle of the volleyball along its trajectory relative to a position of the virtual target area.

37. The sports device of claim 35, wherein the virtual target area is a virtual hoop.

38. The sports device of claim 29, wherein one or more the trajectory parameters are selected from the group consisting of a speed, a directional velocity component, a position, a rotation rate, an axis of rotation, a directional angle and a directional acceleration component.

39. The sports device of claim 29, wherein the feedback information is related to a height of the volleyball at a location along its trajectory.

40. The sports device of claim 29, wherein the feedback information is related to a directional angle of the volleyball at a location along its trajectory.

41. The sports device of claim 29, wherein the feedback information is related to a position of the volleyball at location along its trajectory that is proximate, said position determined relative to a target location for the volleyball for which the person is aiming.

42. The sports device of claim 29,

a memory storage device for storing trajectory session information wherein the trajectory session information comprises one or more of 1) physical information, trajectory information and feedback information generated for the plurality of different volleyball trajectories, 2) a trajectory session time, 3) a trajectory session date, 4) a trajectory session location and combinations thereof.

43. The sports device of claim 42, wherein the trajectory session information is associated with a plurality of different volleyball trajectories generated by a particular person.

44. The sports device of claim 29, wherein the feedback information is provided to the person in at least one of a visual format, an auditory format, a kinetic format and combinations thereof.

45. The sports device of claim 29, wherein the feedback information is provided to the person in an auditory format.

46. The sports device of claim 29, further comprising:

a wireless network interface or a wire network interface for connecting the logic device to one of a local area network, a wide area network and the Internet.

47. The sports device of claim 29, further comprising:

a wireless interface for providing communications between the logic device and a portable computing device.

48. The sports device of claim 29, wherein the logic device is further configured to determine the curve-fits for a plurality of different trajectories of the volleyball captured in the video frame data.

49. The sports device of claim 29, wherein the logic device is further configured to determine one or more aggregate trajectory parameters derived from the plurality of different trajectories.

50. The sports device of claim 29, wherein the plurality of different trajectories are launched by a single person.

51. The sports device of claim 29, wherein logic device is further configured to receive a selection of a launch area for the volleyball and determine where the volleyball is launched within the launch area.

52. The sports device of claim 51, wherein the logic device is further configured to output an indication of the launch area.

53. A method in a sports device including one or more cameras and a processor, the method comprising:

for each of a plurality of different trajectories launched by a person wherein the person is attempting to reproduce a particular trajectory of a volleyball and wherein one or more trajectory parameters characteristic of the particular trajectory are derived from a curve-fit of the particular trajectory,

a) receiving video frame data including a trajectory of the volleyball launched by the person;

b) recognizing the volleyball in the video frame data;

c) determining a curve-fit for the trajectory of the volleyball captured in the video frame data;

d) determining one or more trajectory parameters that are derived from the curve-fit of the trajectory of the volleyball;

e) based upon the one or more trajectory parameters derived from the curve-fit of the trajectory of the volleyball, generating feedback information related to the trajectory of the volleyball

wherein based upon the curve-fits for each of the plurality different trajectories determined in c) and the curve-fit of the particular trajectory, determining a measure of how consistently the person reproduces the particular trajectory and outputting the determined measure.

54. The method of claim 53, further comprising:

determining whether the trajectory of the volleyball launched by the person passes through a virtual target area.

55. The method of claim 53, further comprising:

comparing the one or more trajectory parameters generated from the curve fit of the trajectory of the volleyball to one or more trajectory parameters of a curve-fit that characterizes a particular trajectory of the volleyball the person is attempting to reproduce.

56. A sports device comprising:

one or more cameras for recording video frame data used to characterize a trajectory of a volleyball launched by a person wherein the person is attempting to reproduce a particular trajectory of the volleyball and wherein one or more trajectory parameters characteristic of the particular trajectory are derived from a curve-fit of the particular trajectory;

a logic device configured to i) prior to analyzing a trajectory of the volleyball, autonomously determine a set-up position of the one or more cameras and based upon the determined set-up position, auto-calibrate to objects in an environment in which the sports device is located, ii) receive the video frame data, iii) recognize the volleyball in the video frame data;

iv) determine a curve-fit for the trajectory of the volleyball captured in the video frame data;

v) determine one or more trajectory parameters that are derived from the curve-fit of the trajectory of the volleyball and vi) based upon the one or more trajectory parameters derived from the curve-fit of the trajectory of the volleyball, generate feedback information related to the trajectory of the volleyball.

57. The sports device of claim 56, wherein the logic device is further configured to compare the one or more trajectory parameters generated from the curve fit of the trajectory of the volleyball to the one or more trajectory parameters of the curve-fit that characterize the particular trajectory of the volleyball that the person is attempting to reproduce.

58. The sports device of claim 56, wherein the feedback information is provided as information that indicates a relative relationship between the one or more trajectories parameters of the trajectory of the volleyball and the one or more trajectory parameters of the particular trajectory that the person is attempting to reproduce.

59. The sports device of claim 56, wherein at least two trajectory parameters characterizing the trajectory of the volleyball are compared to at least two trajectory parameters of the particular trajectory the person is attempting to reproduce.

60. The sports device of claim 59, wherein the feedback information is related to the at least two compared trajectory parameters.

61. The sports device of claim 56, wherein the particular trajectory of the volleyball that the person is attempting to reproduce is an optimal trajectory.

62. The sports device of claim 56, wherein the logic device is further configured to determine whether the trajectory of the volleyball launched by the person passes through a virtual target area.

63. The sports device of claim 62, wherein the feedback information is related to a position or a directional angle of the volleyball along its trajectory relative to a position of the virtual target area.

64. The sports device of claim 62, wherein the virtual target area is a virtual hoop.

65. The sports device of claim 56, wherein one or more the trajectory parameters are selected from the group consisting of a speed, a directional velocity component, a position, a rotation rate, an axis of rotation, a directional angle and a directional acceleration component.

66. The sports device of claim 56, wherein the feedback information is related to a height of the volleyball at a location along its trajectory.

67. The sports device of claim 56, wherein the feedback information is related to a directional angle of the volleyball at a location along its trajectory.

68. The sports device of claim 56, wherein the feedback information is related to a position of the volleyball at location along its trajectory that is proximate, said position determined relative to a target location for the volleyball for which the person is aiming.

69. The sports device of claim 56,

a memory storage device for storing trajectory session information wherein the trajectory session information comprises one or more of 1) physical information, trajectory information and feedback information generated for the plurality of different volleyball trajectories, 2) a trajectory session time, 3) a trajectory session date, 4) a trajectory session location and combinations thereof.

70. The sports device of claim 69, wherein the trajectory session information is associated with a plurality of different volleyball trajectories generated by a particular person.

71. The sports device of claim 56, wherein the feedback information is provided to the person in at least one of a visual format, an auditory format, a kinetic format and combinations thereof.

72. The sports device of claim 56, wherein the feedback information is provided to the person in an auditory format.

73. The sports device of claim 56, further comprising:

a wireless network interface or a wire network interface for connecting the logic device to one of a local area network, a wide area network and the Internet.

74. The sports device of claim 56, further comprising:

a wireless interface for providing communications between the logic device and a portable computing device.

75. The sports device of claim 56, wherein the logic device is further configured to determine the curve-fits for a plurality of different trajectories of the volleyball captured in the video frame data.

76. The sports device of claim 75, wherein the logic device is further configured to determine one or more aggregate trajectory parameters derived from the plurality of different trajectories.

77. The sports device of claim 75, wherein the plurality of different trajectories are launched by a single person.

78. The sports device of claim 56, wherein logic device is further configured to receive a selection of a launch area for the volleyball and determine where the volleyball is launched within the launch area.

79. The sports device of claim 78, wherein the logic device is further configured to output an indication of the launch area.

80. A method in a sports device including one or more cameras and a processor, the method comprising:

a) prior to analyzing a trajectory of the volleyball, autonomously determining a set-up position of the one or more cameras and based upon the determined set-up position, auto-calibrating to objects in an environment in which the sports device is located, wherein the person is attempting to reproduce a particular trajectory of the volleyball and wherein one or more trajectory parameters characteristic of the particular trajectory are derived from a curve-fit of the particular trajectory,

b) receiving video frame data including a trajectory of the volleyball launched by the person;

c) recognizing the volleyball in the video frame data;

d) determining a curve-fit for the trajectory of the volleyball captured in the video frame data;

e) determining one or more trajectory parameters that are derived from the curve-fit of the trajectory of the volleyball;

f) based upon the one or more trajectory parameters derived from the curve-fit of the trajectory of the volleyball, generating feedback information related to the trajectory of the volleyball.

81. The method of claim 80, further comprising:

repeating steps b) thru and f) for a plurality of different trajectories of the volleyball launched by the person.

82. The method of claim 80, further comprising:

comparing the one or more trajectory parameters generated from the curve fit of the trajectory of the volleyball to one or more trajectory parameters of a curve-fit that characterizes a particular trajectory of the volleyball the person is attempting to reproduce.