Embedded Ball Tracking via Sensor Fusion
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Solution Overview
Problem
Existing systems fail to accurately and continuously track the location and pose of small objects, such as sports balls, especially in environments with occlusions and varying environmental conditions, requiring a solution that provides high accuracy and reliability in real-time tracking.
Innovation Solution
A system embedded within a sport playing object, incorporating an inertial navigation system, camera clusters, and a global positioning system, along with a wireless transceiver and rechargeable battery, to determine and communicate the object's state, including location and pose, with an orbit processor that uses data from multiple sources to maintain accurate tracking even during occlusions.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If traditional visual tracking methods are used, then the system is simple, but the ball position cannot be determined accurately when occluded by players
Solution Approach 1:
The patent introduces an intermediary tracking system consisting of multiple cameras positioned around the field, inertial measurement units (IMUs) embedded in the ball, and a central processing system. This intermediary network enables continuous ball tracking even when visual contact is blocked by players, resolving the contradiction between measurement precision and device complexity by distributing the tracking function across multiple coordinated components.
Solution Approach 2:
The tracking system is designed with multi-functionality to handle various tracking scenarios. The camera system can operate independently for visual tracking, the IMU system provides inertial data for occluded periods, and the processing system integrates both methods. This universal approach ensures accurate ball position determination under all game conditions, from clear visibility to complete occlusion.
2Duration of action of moving object
If continuous tracking throughout the match is implemented, then complete location data is obtained, but energy consumption increases
Solution Approach 1:
The system employs periodic action by updating ball position data at optimized intervals rather than continuously. The processing system adjusts the update frequency based on game events, camera availability, and tracking needs. During occluded periods, the IMU system provides updates at lower frequency, while during visible periods, the camera system provides higher frequency updates, balancing complete tracking with energy conservation.
Solution Approach 2:
The tracking system dynamically adjusts its operation mode based on real-time conditions. When the ball is visible to cameras, the system uses high-frequency visual tracking. When occluded, it switches to IMU-based inertial tracking with lower frequency updates. This dynamic adaptation ensures complete match coverage while optimizing energy consumption according to actual tracking requirements.
3Productivity
If high update rate tracking is achieved, then real-time position is known, but measurement precision decreases during occlusion
Solution Approach 1:
The patent merges multiple tracking technologies - camera-based visual tracking and IMU-based inertial tracking - into a unified system. The processing system combines data from both sources, using camera data for high-precision visual tracking when available and IMU data for continuous tracking during occlusion. This merging allows the system to maintain both high update rate and high measurement precision across all tracking conditions.
Solution Approach 2:
The system implements feedback mechanisms where the processing system continuously monitors the quality and availability of tracking data from both cameras and IMUs. Based on this feedback, it dynamically adjusts the weighting and fusion of data sources to maintain optimal precision while operating at high update rates. The feedback loop ensures that inaccurate IMU predictions are corrected by camera data when available, and vice versa.
4Loss of information
If multiple sensors are integrated in the ball, then comprehensive state data is obtained, but the ball weight increases
Solution Approach 1:
The tracking system is segmented into distributed components: lightweight IMUs embedded directly in the ball, external camera systems positioned around the field, and a centralized processing system. This segmentation allows the ball itself to remain lightweight while still obtaining comprehensive state data, as the heavy sensor components are distributed externally rather than concentrated in the ball.
Solution Approach 2:
The IMU acts as an intermediary component that provides continuous motion data to the processing system, while the camera system serves as another intermediary that provides visual position data. This intermediary approach allows comprehensive state tracking without requiring all sensors to be integrated in the ball, maintaining ball weight within acceptable limits while achieving complete data coverage through the coordinated action of multiple distributed sensors.
Applied Scientific Principles
This section explains which scientific principles are used to turn an abstract innovation direction into a practical engineering solution.
Function Achieved in This Case
The system achieves accurate tracking of the object's location and pose with better than 5 cm precision at a high update rate, functioning in various environmental conditions, including indoor settings, and can be used in sports and other fields like security and police applications.
Implementation Method 1
The system includes an inertial navigation system (INS) module
Implementation Method 2
The system includes a global positioning system (GPS) module which provides the additional data relating to the object state
Implementation Method 3
the second state module is a camera system capturing the object
Implementation Method 4
a wireless transceiver for communicating the first state module with a transceiver using ZigBee specification
Data Source
AI summary
It is provided a system for embedment within a sport playing object, a ball for example. The system is associated with continuous determination of a state of the object, its location and pose. The system includes an inertial navigation system (INS) module first state module adapted for measuring parameters associated with the object state, a wireless transmitter, a battery for providing electric power, and a mounting module connecting the object with the first state module, the wireless transmitter and the battery. Independent data relating to the object state is provided by a second state module, a camera system for example. The object state is calculated in accordance with the parameters measured by the first state module and in accordance with the independent provided data. The camera system capturing the object includes at least two mutually displaced camera clusters, and each camera cluster includes one or more cameras for providing a predetermined spatial resolution. The system may include a global positioning system (GPS) module which provides the independent data relating to the object state.