# US 11,077,351 B2 · Measurement and reconstruction of the golf launching scene in 3D > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 11,077,351 B2 - Document ID: US11077351B2 - Status: Granted - Kind: B2 - Application number: 16/424,408 - Filed: 2019-05-28 - Published: 2020-09-10 - Granted: 2021-08-03 - Earliest claimed: 2018-05-02 - Assignees: Rapsodo Pte. Ltd. - Applicants: Rapsodo Pte. Ltd. - Inventors: Jin Xu; Batuhan Okur; Lodiya Radhakrishnan Vijayanand - Web page: https://patentgrep.com/patent/US11077351B2 ## CPC - 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 69/3658: {Means associated with the ball for indicating or measuring, e.g. speed, direction} - A63B 24/0006: {Computerised comparison for qualitative assessment of motion sequences or the course of a movement} - A63B 69/3632: {Clubs or attachments on clubs, e.g. for measuring, aligning (A63B69/3614 takes precedence; clubs for swinging exercises in general A63B15/00)} - A63B 71/0622: {Visual, audio or audio-visual systems for entertaining, instructing or motivating the user} - 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 2024/0031: {at the starting point} - A63B 2024/0034: {during flight} - A63B 2071/0636: {3D visualisation} - A63B 2071/0647: {Visualisation of executed movements} - A63B 2102/32: Golf - A63B 2220/05: Image processing for measuring physical parameters - A63B 2220/10: Positions - A63B 2220/24: Angular displacement - A63B 2220/30: Speed - A63B 2220/62: Time or time measurement used for time reference, time stamp, master time or clock signal - A63B 2220/806: Video cameras - A63B 2220/807: Photo cameras - A63B 2220/89: Field sensors, e.g. radar systems - A63B 2225/50: Wireless data transmission, e.g. by radio transmitters or telemetry - A63B 2225/74: with powered illuminating means, e.g. lights - A63B 2225/76: with means enabling use in the dark, other than powered illuminating means - G06T 15/00: Three-dimensional [3D] image rendering - A63B: APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT (apparatus for passive exercising, massage A61H) - G06T: IMAGE DATA PROCESSING OR GENERATION, IN GENERAL ## Abstract A golf launching monitoring arrangement allows equipment to be placed at a position behind the player (i.e., behind the golf ball), to measure both club and ball movement. A 3D scan of the club head before the play serves two purposes: 1) 3D registration that enables accurate measurement of the club head position and orientation for the camera system measuring the club movement from the back; 2) for reconstruction of the launching scene. With a 3D model of the club head, a simple 3D model of the golf ball and accurate measurement of their movement during the play, a full 3D golf launching scene can be reconstructed authentically. With this reconstruction, the movement of both the club head and the resulting ball movement can be replayed at any viewing angle, with any frame rate and at whatever resolution for the players or the coaches to view and analyze. ## Claims ### Claim 1 A method comprising: performing scanning of a golf club to obtain scanning information; using at least one camera positioned behind the golf ball and at least one lighting unit to obtain a series of images of the golf club and golf ball during swinging of the golf club; using a control unit and a radar unit to control the at least one camera and at least one lighting unit; and providing the scanning information and the images to a modeling unit, the modeling unit to generate a model of the golf club based on the scanning information and the images. ### Claim 2 (depends on 1) The method of claim 1, wherein the golf club has at most one sticker attached thereto, the sticker bearing at least one modulated brightness pattern, the at least one modulated brightness pattern being visible or invisible to human eyes. ### Claim 3 (depends on 2) The method of claim 2, wherein the at least one brightness pattern is modulated in two dimensions. ### Claim 4 (depends on 2) The method of claim 2, wherein the sticker bears multiple separate modulated brightness patterns. ### Claim 5 (depends on 2) The method of claim 2, wherein the sticker is placed on a shaft of the golf club. ### Claim 6 (depends on 1) The method of claim 1, comprising using the modeling unit to obtain a model of a golf club swing and impact with the golf ball. ### Claim 7 (depends on 6) The method of claim 6, wherein the model accurately models a 3D shape of a face of the golf club. ### Claim 8 (depends on 1) The method of claim 1, comprising displaying an interactive video representing a golf club swing, and impact with the golf ball. ### Claim 9 (depends on 1) The method of claim 1, comprising using a first plurality of cameras positioned behind the golfer to obtain the series of images of the golf club during swinging of the golf club. ### Claim 10 (depends on 1) The method of claim 1, wherein the scanning information is 3D scanning information, comprising using a second plurality of cameras positioned behind the golfer and at least one further lighting unit to perform 3D scanning of the golf club to obtain the 3D scanning information. ### Claim 11 A comprising: at least one camera positioned behind the golf ball and at least one lighting unit, the at least one camera being configured to: perform scanning of a golf club to obtain scanning information; and obtain a series of images of the golf club and golf ball during swinging of the golf club; a control unit and a radar unit coupled to the at least one camera and the at least one lighting unit to control the at least one camera and at least one lighting unit; and a modeling unit connected to receive the scanning information and the images, the modeling unit to generate a model of the golf club based on the scanning information and the images. ### Claim 12 (depends on 11) The system of claim 11, wherein the golf club has at most one sticker attached thereto, the sticker bearing at least one modulated brightness pattern. ### Claim 13 (depends on 12) The system of claim 12, wherein the at least one brightness pattern is modulated in two dimensions. ### Claim 14 (depends on 12) The system of claim 12, wherein the sticker bears multiple separate modulated brightness patterns. ### Claim 15 (depends on 12) The system of claim 12, wherein the sticker is placed on a shaft of the golf club. ### Claim 16 (depends on 11) The system of claim 11, wherein the modeling unit is configured to obtain a model of a golf club swing and impact with the golf ball. ### Claim 17 (depends on 16) The system of claim 16, wherein the model accurately models a 3D shape of a face of the golf club. ### Claim 18 (depends on 11) The system of claim 11, comprising a display coupled to the control unit for displaying an interactive video representing a golf club swing and impact with golf ball. ### Claim 19 (depends on 11) The system of claim 11, comprising a first plurality of cameras positioned behind the golfer to obtain the series of images of the golf club during swinging of the golf club. ### Claim 20 (depends on 1) The method of claim 1, wherein the scanning information is 3D scanning information, comprising a second plurality of cameras positioned behind the golfer to perform 3D scanning of the golf club to obtain the 3D scanning information. ### Claim 21 A method comprising: using at least one camera positioned behind the golf ball to perform scanning of a golf club to obtain scanning information; using at least one other camera positioned behind the golf ball and at least one lighting unit to obtain a series of images of the golf club and golf ball during swinging of the golf club; using a control unit to control both the at least one camera and the at least one other camera and the at least one lighting unit; and providing the scanning information and the images to a modeling unit, the modeling unit to generate a model of the golf club based on the scanning information and the images. ### Claim 22 (depends on 21) The method of claim 21, wherein the golf club has at most one sticker attached thereto, the sticker bearing at least one modulated brightness pattern. ### Claim 23 (depends on 22) The method of claim 22, wherein the at least one brightness pattern is modulated in two dimensions. ### Claim 24 (depends on 22) The method of claim 22, wherein the sticker bears multiple separate modulated brightness patterns. ### Claim 25 (depends on 22) The method of claim 22, wherein the sticker is placed on a shaft of the golf club. ### Claim 26 (depends on 21) The method of claim 21, comprising: using the control unit and a radar unit to control the at least one camera and the at least one other camera. ### Claim 27 (depends on 21) The method of claim 21, comprising using the modeling unit to obtain a model of a golf club swing and impact with the golf ball. ### Claim 28 (depends on 21) The method of claim 21, wherein the model accurately models a 3D shape of a face of the golf club. ### Claim 29 (depends on 21) The method of claim 21, comprising displaying an interactive video representing a golf club swing and impact with the golf ball. ### Claim 30 A method comprising: capturing images of a sticker that is attached to a piece of sports equipment using a single camera during dynamic movement of the piece of sports equipment by a user, the sticker bearing at least one modulated brightness pattern, modulated in two dimensions; and processing the images to model dynamic movement of the piece of sports equipment based on the images.