# US 10,441,863 B2 · Systems and methods for illustrating the flight of a projectile

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- Number: US 10,441,863 B2
- Document ID: US10441863B2
- Status: Granted
- Kind: B2
- Application number: 15/968,344
- Filed: 2018-05-01
- Published: 2018-08-30
- Granted: 2019-10-15
- Earliest claimed: 2009-01-29
- Assignees: Trackman A/S
- Applicants: Trackman A/S
- Inventors: Fredrik Tuxen; Frederik Ettrup Brink
- Web page: https://patentgrep.com/patent/US10441863B2

## CPC

- A63B 24/0021: {Tracking a path or terminating locations}
- A63B 24/0003: {Analysing the course of a movement or motion sequences during an exercise or trainings sequence, e.g. swing for golf or tennis}
- A63B 60/46: Measurement devices associated with golf clubs, bats, rackets or the like for measuring physical parameters relating to sporting activity, e.g. baseball bats with impact indicators or bracelets for measuring the golf swing
- A63B 69/36: for golf
- A63B 69/3623: {for driving (A63B69/3608, A63B69/3658, A63B69/3661, A63B69/3667 and A63B69/3691 take precedence)}
- A63B 69/3658: {Means associated with the ball for indicating or measuring, e.g. speed, direction}
- A63B 71/06: Indicating or scoring devices for games or players {, or for other sports activities}
- A63B 71/0605: {Decision makers and devices using detection means facilitating arbitration}
- A63B 71/0619: {Displays, user interfaces and indicating devices, specially adapted for sport equipment, e.g. display mounted on treadmills}
- G06F 18/22: Matching criteria, e.g. proximity measures
- G06T 3/02: Affine transformations (for image registration G06T3/147; for image mosaicing G06T3/4038)
- G06T 7/246: using feature-based methods, e.g. the tracking of corners or segments
- G06T 7/248: {involving reference images or patches}
- G06T 7/32: using correlation-based methods
- G06T 7/60: Analysis of geometric attributes
- G06T 7/73: using feature-based methods
- G06T 7/74: {involving reference images or patches}
- A63B 2024/0031: {at the starting point}
- A63B 2024/0034: {during flight}
- A63B 2071/0636: {3D visualisation}
- A63B 2071/065: {Visualisation of specific exercise parameters}
- A63B 2102/02: Tennis
- A63B 2102/16: Table tennis
- A63B 2102/18: Baseball, rounders or similar games
- A63B 2102/20: Cricket
- A63B 2102/32: Golf
- A63B 2220/05: Image processing for measuring physical parameters
- A63B 2220/12: Absolute positions, e.g. by using GPS
- A63B 2220/20: Distances or displacements
- A63B 2220/30: Speed
- A63B 2220/35: Spin
- A63B 2220/806: Video cameras
- A63B 2220/807: Photo cameras
- A63B 2220/89: Field sensors, e.g. radar systems
- A63B 2243/0025: Football
- A63B 2243/0033: Handball
- A63B 2243/0037: Basketball
- A63B 2243/0095: Volleyball
- G06T 2207/10044: Radar image
- G06T 2207/30221: Sports video; Sports image
- G06T 2207/30224: Ball; Puck
- G06T 2207/30241: Trajectory
- A63B: APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT (apparatus for passive exercising, massage A61H)
- G06F: ELECTRIC DIGITAL DATA PROCESSING (computer systems based on specific computational models G06N)
- G06T: IMAGE DATA PROCESSING OR GENERATION, IN GENERAL

## Abstract

A system for illustrating the flight of a sports ball includes a radar, an imager, and a controller. The imager is configured to image a moving sports ball. The controller is configured to (i) receive, from the imager, an image including the moving sports ball, (ii) receive, from the radar, radar data associated with the moving sports ball, (iii) determine, from the radar data, a portion of a trajectory of the moving sports ball, (iv) alter the image to illustrate the portion of the trajectory relative to the moving sports ball, and (v) output the altered image.

## Claims

### Claim 1

A method, comprising:
providing a first imager and a radar, the first imager and the radar being calibrated to correlate data from the radar relating to a moving object to positions within images from the first imager using a first calibration setting;
detecting a first change in the field of view of the imager by comparing first and second images from the first imager; and
determining a second calibration setting based on the first change in field of view of the first imager to correlate data from the radar relating to the moving object to positions within images from the imager subsequent to the first change in the field of view of the first imager.

### Claim 2 (depends on 1)

The method of claim 1, wherein the first imager is movable relative to the radar.

### Claim 3 (depends on 1)

The method of claim 1, further comprising inserting a graphic representation of a trajectory of the moving object into images from the first imager based on the second calibration setting.

### Claim 4 (depends on 1)

The method of claim 1, further comprising correlating data from the radar relating to the moving object to positions within images from a second imager fixed relative to the radar using a third calibration setting.

### Claim 5 (depends on 4)

The method of claim 4, wherein the positions within the images from the second imager are correlated to positions within the first imager based on positions of elements visible in images from both the first and second imagers.

### Claim 6

A system for tracking a moving object, comprising:
a first imager;
a radar; and
a processing unit calibrating the first imager and the radar to correlate data from the radar relating to a moving object to positions within images from the first imager using a first calibration setting, the processing unit detecting a first change in the field of view of the imager by comparing first and second images from the first imager and determining a second calibration setting based on the first change in field of view of the first imager to correlate data from the radar relating to the moving object to positions within images from the imager subsequent to the first change in the field of view of the first imager.