# US 2024/0191983 A1 · Estimating tracking sensor parametrization using known surface constraints > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 2024/0191983 A1 - Document ID: US20240191983A1 - Status: Published application - Kind: A1 - Application number: 18/583,303 - Filed: 2024-02-21 - Published: 2024-06-13 - Earliest claimed: 2016-10-13 - Assignees: SportsMEDIA Technology Corporation - Applicants: SportsMEDIA Technology Corporation - Inventors: Roger R. Labbe; Divya Ramakrishnan; Lavanya Sridharan; Richard H. Cavallaro; Marvin S. WHITE - Web page: https://patentgrep.com/patent/US20240191983A1 ## CPC - G01B 11/002: {for measuring two or more coordinates} - G01S 5/16: using electromagnetic waves other than radio waves - G06T 7/20: Analysis of motion (motion estimation for coding, decoding, compressing or decompressing digital video signals H04N19/43, H04N19/51) - G06T 7/292: Multi-camera tracking - H04N 7/181: {for receiving images from a plurality of remote sources} - G06T 2207/10021: Stereoscopic video; Stereoscopic image sequence - G06T 2207/30224: Ball; Puck - G01B: MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS - G01S: RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES - G06T: IMAGE DATA PROCESSING OR GENERATION, IN GENERAL - H04N: PICTORIAL COMMUNICATION, e.g. TELEVISION ## Abstract A sensor system and a method of operating a sensor system including a plurality of sensors tracking a moving object in an area having known bounding surfaces. The apparatus and method calculate a time-specific position of the object based on data and sensor parameters from at least two of the plurality of sensors and determine errors between the calculated time-specific positions calculated. The method and apparatus calculate a minimum system error attributable to the at least two sensors by constraining at least one dimension in the data of the sensor used in the calculated time-specific position of the object associated with the sensor, the constraining based on an object/surface interaction, the minimum system error calculated by solving for modified sensor parameters for each sensor. ## Claims ### Claim 1 A method of tracking an object comprising: receiving sensor data from a plurality of sensors; detecting a plurality of bounding surfaces in a bounded area from the plurality of sensors; detecting at least one object within the bounded area from the plurality of sensors; determining the positions of the plurality of bounding surfaces within the bounded area; analyzing at least one interaction of the at least one object with the plurality of bounding surfaces; and transforming a three-dimensional location of the at least one object in a video frame to a two-dimensional position in a broadcast camera. ### Claim 2 (depends on 1) The method of claim 1, further comprising determining sensor parameters for the plurality of sensors based on one or more bundle adjustment techniques. ### Claim 3 (depends on 1) The method of claim 1, wherein the plurality of sensors includes at least one pulse detector. ### Claim 4 (depends on 1) The method of claim 1, wherein the plurality of sensors includes at least one infrared sensor and/or at least one visible camera sensor. ### Claim 5 (depends on 1) The method of claim 1, wherein the plurality of sensors is operable to determine the three-dimensional location of the at least one object. ### Claim 6 (depends on 5) The method of claim 5, wherein a surface map provides at least one boundary condition for determining the three-dimensional location of the at least one object. ### Claim 7 (depends on 1) The method of claim 1, wherein the three-dimensional location is transformed into the two-dimensional position by multiplying the three-dimensional location by a camera matrix (K). ### Claim 8 A non-transitory computer readable storage medium including computer readable program code for tracking an object comprising: a processor operable to receive data from a plurality of sensors; and a memory including the computer readable program code, wherein the computer readable program code includes: code operable to determine the positions of a plurality of bounding surfaces within a bounded area based on the data from the plurality of sensors; code operable to cause the processor to analyze at least one interaction of the object with the plurality of bounding surfaces; and code operable to transform a three-dimensional location of the object in a video frame to a two-dimensional position in a broadcast camera. ### Claim 9 (depends on 8) The non-transitory computer readable storage medium of claim 8, wherein a position of the object is determined based on at least one interaction of the object with the plurality of bounding surfaces. ### Claim 10 (depends on 9) The non-transitory computer readable storage medium of claim 9, wherein a surface map provides at least one boundary condition for determining the three-dimensional location of the object. ### Claim 11 (depends on 8) The non-transitory computer readable storage medium of claim 8, wherein the three-dimensional location is transformed into the two-dimensional position by multiplying the three-dimensional location by a camera matrix (K). ### Claim 12 (depends on 8) The non-transitory computer readable storage medium of claim 8, further comprising code operable to cause the processor to determine sensor parameters for the plurality of sensors based on one or more bundle adjustment techniques. ### Claim 13 (depends on 8) The non-transitory computer readable storage medium of claim 8, wherein the determination of the position of the object is based on the data from the plurality of sensors. ### Claim 14 (depends on 8) The non-transitory computer readable storage medium of claim 8, wherein the memory is operable to accumulate the data from the plurality of sensors and further comprising code operable to determine a change in direction of the object based on the data from the plurality of sensors. ### Claim 15 An apparatus for tracking an object comprising: a processor in communication with a plurality of sensors, wherein the processor is programmed to: receive position data from the plurality of sensors; determine the positions of a plurality of bounding surfaces within a bounded area; determine the position of an object within the bounded area; analyze at least one interaction of the object with the plurality of bounding surfaces; and wherein the apparatus is operable to receive a three-dimensional location of the object in a video frame and is operable to transform the three-dimensional location of the object in the video frame to a two-dimensional position. ### Claim 16 (depends on 15) The apparatus of claim 15, wherein motion of the object is constrained during an interaction of the object and at least one of the plurality of bounding surfaces. ### Claim 17 (depends on 15) The apparatus of claim 15, wherein the three-dimensional location is transformed into the two-dimensional position by multiplying the three-dimensional location by a camera matrix (K). ### Claim 18 (depends on 15) The apparatus of claim 15, wherein the apparatus is operable to modify sensor parameters of the plurality of sensors based on one or more bundle adjustment techniques. ### Claim 19 (depends on 15) The apparatus of claim 15, wherein the apparatus is further operable to determine a change in direction of the object based on the data relating to a position of the object obtained by the plurality of sensors and the interaction between the object and the at least one of the plurality of bounding surfaces. ### Claim 20 (depends on 15) The apparatus of claim 15, wherein a surface map provides at least one boundary condition for determining a three-dimensional location of the object.