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1.发明授权公开(公告)号：US11697046B2
公开(公告)日：2023-07-11
申请号：US16825853
申请日：2020-03-20
申请人： Topgolf Sweden AB
发明人： Daniel Forsgren
CPC分类号： A63B24/0021 , A63B57/00 , G01S13/587 , G01S13/72 , G01S13/867 , G01S13/88 , A63B69/3658 , A63B2024/0034 , A63B2220/89
摘要： Methods, systems, and apparatus, including medium-encoded computer program products, for 3D flight tracking of objects includes, in at least one aspect, a method including obtaining two dimensional image data of a golf ball in flight, the two dimensional image data originating from a camera; obtaining radar data of the golf ball in flight, the radar data originating from a Doppler radar device associated with the camera; interpolating the radar data to generate interpolated radar data of the golf ball in flight; and blending radial distance information derived from the interpolated radar data of the golf ball in flight with angular distance information derived from the two dimensional image data of the golf ball in flight to form three dimensional location information of the golf ball in three dimensional space.
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公开(公告)号：US20230091774A1
公开(公告)日：2023-03-23
申请号：US17979692
申请日：2022-11-02
申请人： Topgolf Sweden AB
摘要： Methods and systems include, in at least one aspect: determining an optical model of an object in flight using two dimensional image data obtained from a camera, determining a radar model of the object in flight using radar data obtained from a radar device, combining the radar model with the optical model to produce three dimensional location information of the object in flight in three dimensional space, comparing the three dimensional location information of the object in flight with data representing an expected ball launch, and rejecting (or verifying) the object as an actual ball launch in response to the three dimensional location information of the object in flight differing (or not differing) from the data representing the expected ball launch by a threshold amount.
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公开(公告)号：US20230085842A1
公开(公告)日：2023-03-23
申请号：US17381155
申请日：2021-07-20
申请人： Topgolf Sweden AB
摘要： Methods, systems, and apparatus, including medium-encoded computer program products, for 3D flight tracking of objects include a method including determining a golf ball trajectory based on observations by sensor(s), extrapolating the trajectory backward in time, calculating distance measure(s) between the extrapolated trajectory and physical locations, determining one of the physical locations to be an origin of the golf ball based on the distance measure(s) and two types of separately estimated errors, wherein a first of the two types of separately estimated errors affects ball positional error for the initial observations, and a second of the two types of separately estimated errors affects an angle of the extrapolated trajectory; and presenting golf ball data on a display device associated with the origin of the golf ball.
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4.发明申请公开(公告)号：US20190111315A2
公开(公告)日：2019-04-18
申请号：US16033134
申请日：2018-07-11
申请人： Topgolf Sweden AB
发明人： Daniel Forsgren
摘要： Methods, systems, and apparatus, including medium-encoded computer program products, for 3D flight tracking of objects includes, in at least one aspect, a method including obtaining two dimensional image data of a golf ball in flight, the two dimensional image data originating from a camera; obtaining radar data of the golf ball in flight, the radar data originating from a Doppler radar device associated with the camera; interpolating the radar data to generate interpolated radar data of the golf ball in flight; and blending radial distance information derived from the interpolated radar data of the golf ball in flight with angular distance information derived from the two dimensional image data of the golf ball in flight to form three dimensional location information of the golf ball in three dimensional space.
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5.发明授权公开(公告)号：US12128275B2
公开(公告)日：2024-10-29
申请号：US18323938
申请日：2023-05-25
申请人： Topgolf Sweden AB
发明人： Daniel Forsgren
CPC分类号： A63B24/0021 , A63B57/00 , G01S13/587 , G01S13/72 , G01S13/867 , G01S13/88 , A63B2024/0034 , A63B69/3658 , A63B2220/89
摘要： Methods, systems, and apparatus, including medium-encoded computer program products, for 3D flight tracking of objects includes, in at least one aspect, a method including obtaining (from a camera) two dimensional image data of a golf ball in flight; obtaining radar data (originating from a Doppler radar device) of the golf ball in flight; fitting a curve to the radar data to generate a continuous function of time for the radar data of the golf ball in flight; determining three dimensional location information of the golf ball in three dimensional space including, for each of multiple camera observations, finding a radial distance using the continuous function and a time of the camera observation, finding a depth distance, finding a horizontal distance and finding a vertical distance to the golf ball; and providing the three dimensional location information of the golf ball in three dimensional space to augment other data before display.
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公开(公告)号：US11964188B2
公开(公告)日：2024-04-23
申请号：US18236854
申请日：2023-08-22
申请人： TOPGOLF SWEDEN AB
CPC分类号： A63B24/0021 , A63B69/3658 , A63B71/0622 , A63B2024/0034 , A63B2024/0056 , A63B2071/0636 , A63B2220/12 , A63B2220/20 , A63B2220/35 , A63B2220/806 , A63B2220/83 , A63B2225/02 , A63B2225/50
摘要： Methods, systems, and apparatus, including medium-encoded computer program products, for 3D flight tracking of objects include a method including: determining at least one three dimensional trajectory for at least one golf ball hit into a three dimensional physical space based on observations by at least one golf ball sensor placed adjacent to the three dimensional physical space; calculating systemic and stochastic errors for the at least one three dimensional trajectory in accordance with variations in golf ball launching position, variations in locations for the at least one golf ball sensor, or both; and presenting a report showing a summary of the calculated systemic and stochastic errors to indicate preferred hitting positions, a different location for the at least one golf ball sensor, or both.
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公开(公告)号：US20230199295A1
公开(公告)日：2023-06-22
申请号：US18084446
申请日：2022-12-19
申请人： Topgolf Sweden AB
IPC分类号： H04N23/61 , H04N23/695 , H04N23/69 , G06T7/70 , G06V20/50 , H04N23/67 , H04N13/204 , G06T7/20
CPC分类号： H04N23/61 , H04N23/695 , H04N23/69 , G06T7/70 , G06V20/50 , H04N23/675 , H04N13/204 , G06T7/20 , G06T2207/30224 , G06T2207/30241 , G06T2207/10012 , G01S13/867
摘要： Methods, systems, and apparatus, including medium-encoded computer program products, for tracking an object in motion includes, in at least one aspect, a method including: detecting a launch of a ball based on initial data obtained by one or more sensors, sending initial control signals that begin changing at least one of pan, tilt, or zoom for a camera based on a predicted future position of the ball, determining a trajectory of the ball in three-dimensional space based on additional data obtained by the one or more sensors after the launch, and sending additional control signals that control each of the pan, tilt, and zoom for the camera based on an expected future position of the ball along the trajectory.
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公开(公告)号：US11335013B2
公开(公告)日：2022-05-17
申请号：US17404953
申请日：2021-08-17
申请人： Topgolf Sweden AB
发明人： Daniel Forsgren , Stein Norheim
摘要： Methods, systems, and apparatus, including medium-encoded computer program products, for pre-processing image data before 3D object tracking includes, in at least one aspect, a method including: receiving, at a first computer, image frames from a camera; identifying, by the first computer, locations of interest in the image frames; finding sequences of the locations, wherein each of the sequences satisfies a motion criterion for locations identified in at least three image frames from the camera; and sending output data for the sequences of the locations to a second computer for processing the sequences in the output data by interpolating between specified 2D positions in specific image frames for the sequences, using timestamps of the specific image frames, to produce a virtual 2D position at a predetermined point in time, which is usable for constructing a 3D track of a ball in motion.
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9.发明申请公开(公告)号：US20180318644A1
公开(公告)日：2018-11-08
申请号：US16033134
申请日：2018-07-11
申请人： Topgolf Sweden AB
发明人： Daniel Forsgren
摘要： Methods, systems, and apparatus, including medium-encoded computer program products, for 3D flight tracking of objects includes, in at least one aspect, a method including obtaining two dimensional image data of a golf ball in flight, the two dimensional image data originating from a camera; obtaining radar data of the golf ball in flight, the radar data originating from a Doppler radar device associated with the camera; interpolating the radar data to generate interpolated radar data of the golf ball in flight; and blending radial distance information derived from the interpolated radar data of the golf ball in flight with angular distance information derived from the two dimensional image data of the golf ball in flight to form three dimensional location information of the golf ball in three dimensional space.
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10.发明公开公开(公告)号：US20240273738A1
公开(公告)日：2024-08-15
申请号：US18641880
申请日：2024-04-22
申请人： Topgolf Sweden AB
CPC分类号： G06T7/292 , G06T7/251 , G06T7/77 , G06V10/255 , G06V20/52 , G06V20/647 , G06T2207/10021 , G06T2207/10028 , G06T2207/20084 , G06T2207/30224 , G06T2207/30241
摘要： Methods, systems, and apparatus, including medium-encoded computer program products, for three-dimensional object tracking includes, in at least one aspect, a method including: obtaining three-dimensional positions of objects registered by a detection system configured to allow more false positives so as to minimize false negatives, forming hypotheses using a filter that allows connections between registered objects when estimated three-dimensional velocity vectors roughly correspond to an object in motion in three-dimensional space, eliminating a proper subset of the hypotheses that are not further extended during the forming, specifying at least one three-dimensional track of at least one ball in motion in three-dimensional space by applying a full three-dimensional physics model to data for the three-dimensional positions used in the forming of at least one hypothesis that survives the eliminating, and outputting for display the at least one three-dimensional track of the at least one ball in motion in three-dimensional space.
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