Tennis ball positioning system, method and device based on visual identification

A positioning system and tennis ball technology, applied in the computer field, can solve problems such as low work efficiency, misidentification as tennis balls, unstable picking accuracy, etc., and achieve the effect of solving misidentification problems and reducing hardware costs

Inactive Publication Date: 2018-05-25
思博赛睿(北京)科技有限公司
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

Lidar is expensive, and lidar scanning and recognition of tennis balls is easy to misidentify mineral water bottles on

Method used

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  • Tennis ball positioning system, method and device based on visual identification
  • Tennis ball positioning system, method and device based on visual identification
  • Tennis ball positioning system, method and device based on visual identification

Examples

Experimental program
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Effect test

Embodiment 1

[0045] Embodiment 1: as figure 1 A tennis positioning system based on visual recognition is shown, which is characterized in that the system includes: an image extraction unit sequentially connected to extract image information in the venue, a segmentation unit that receives image information and processes the image information, and extracts from the image after identification and processing. An extraction unit of tennis outline and a positioning unit for acquiring tennis coordinates; the segmentation unit includes a filter module, a conversion module, a search module and a screening module. The extraction unit extracts the image information in the venue and sends it to the segmentation unit for processing. After the processed image is filtered, converted, searched and screened, the pixel coordinates of the center of the tennis ball are obtained. The positioning unit obtains the tennis relative in the three-dimensional coordinates of the robot.

[0046] Further, the filtering...

Embodiment 2

[0062] Embodiment 2: as figure 2 The shown embodiment 2 is proposed on the basis of embodiment 1, wherein the image extraction unit also includes two CMOS cameras arranged side by side and a camera calibration module, and Zhang Zhengyou calibration method is used to solve the internal and external parameters of the binocular camera. Further, the distance between the two CMOS cameras is 170 mm, and they respectively capture images within 120 degrees in front of the cameras.

[0063] The present invention also provides a tennis ball positioning method based on the above system, including:

[0064] Step 1. Start the CMOS camera, and the two cameras simultaneously collect images of the field area and send the images to the computer;

[0065] Step 2, the computer processes the image and recognizes the tennis ball, specifically including:

[0066] converting the image into an HSV encoded image;

[0067] A morphological unit structure with a rectangular structure is constructed t...

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Abstract

The invention discloses a tennis ball positioning system and method based on visual identification. The system comprises an image extraction unit, a segmentation unit, an extraction unit and a positioning unit which are sequentially connected, wherein the image extraction unit is used for extracting image information in a field; the segmentation unit is used for receiving the image information andprocessing the image information; the extraction unit is used for extracting the outline of a tennis ball in a processed image, and the positioning unit is used for acquiring coordinates of the tennis ball; the segmentation unit comprises a filtering module, a conversion module, a searching module and a screening module. Based on a novel tennis ball identification and positioning principle, binocular vision is used for identifying the tennis ball and positioning the tennis ball, the problem of false identification caused by the adoption of laser radar and the ultrasonic technology is solved,and the hardware cost is reduced on the premise that the identification accuracy and the positioning precision are ensured.

Description

technical field [0001] The invention relates to the field of computer technology, in particular to a tennis positioning system, method and device based on visual recognition. Background technique [0002] In recent years, tennis has risen rapidly in China, and the number of people participating in tennis has increased rapidly. Then came the hot sale of tennis ball pick-up equipment in tennis courts. With the advent of the intelligent era, the development of intelligent tennis picking equipment has attracted more and more attention. [0003] At present, the commonly used tennis picking scheme is to set up a lidar at a certain height of the tennis robot, use the lidar to scan the field, and judge the number and position of tennis balls on the field according to the information returned by the lidar. Lidar is expensive, and lidar scanning and recognition of tennis balls can easily misidentify mineral water bottles and personnel's legs on the tennis court as tennis balls, resu...

Claims

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Application Information

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IPC IPC(8): G06T7/73G06T7/11G06T7/194G06T5/00G06T7/80A63B47/02
CPCA63B47/02G06T5/002G06T7/11G06T7/194G06T7/73G06T7/80G06T2207/10004G06T2207/20032G06T2207/20192
Inventor 董明武
Owner 思博赛睿(北京)科技有限公司
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