US 12,361,570 B2
Three-dimensional object tracking using unverified detections registered by one or more sensors
Daniel Forsgren, Enebyberg (SE); Anton Mikael Jansson, Stockholm (SE); and Stein Norheim, Spånga (SE)
Assigned to Topgolf Sweden AB, Danderyd (SE)
Filed by Topgolf Sweden AB, Danderyd (SE)
Filed on Apr. 22, 2024, as Appl. No. 18/641,880.
Application 18/641,880 is a continuation of application No. 17/516,637, filed on Nov. 1, 2021, granted, now 11,995,846.
Claims priority of provisional application 63/109,290, filed on Nov. 3, 2020.
Prior Publication US 2024/0273738 A1, Aug. 15, 2024
Int. Cl. G06T 7/292 (2017.01); G06T 7/246 (2017.01); G06T 7/77 (2017.01); G06V 10/20 (2022.01); G06V 20/52 (2022.01); G06V 20/64 (2022.01)
CPC G06T 7/292 (2017.01) [G06T 7/251 (2017.01); G06T 7/77 (2017.01); G06V 10/255 (2022.01); G06V 20/52 (2022.01); G06V 20/647 (2022.01); G06T 2207/10021 (2013.01); G06T 2207/10028 (2013.01); G06T 2207/20084 (2013.01); G06T 2207/30224 (2013.01); G06T 2207/30241 (2013.01)] 28 Claims
OG exemplary drawing
 
1. A method comprising:
obtaining three-dimensional positions of objects of interest registered by an object detection system configured to allow more false positives for the registered objects of interest so as to minimize false negatives;
forming hypotheses of objects in motion in three-dimensional space using a filter applied to the three-dimensional positions of the registered objects of interest, wherein the filter allows connections between specific ones of the registered objects of interest when estimated three-dimensional velocity vectors for the specific objects of interest roughly correspond to an object in motion in three-dimensional space across time;
eliminating a proper subset of the hypotheses that are not further extended by connections made, during the forming, with at least one additional object of interest registered by the object detection system;
specifying at least one three-dimensional track of at least one ball in motion in three-dimensional space by applying a full three-dimensional physics model to data for the three-dimensional positions of the registered objects of interest used in the forming of at least one hypothesis that survives the eliminating; and
outputting for display the at least one three-dimensional track of the at least one ball in motion in three-dimensional space;
wherein the obtaining comprises receiving or generating the three-dimensional positions of the registered objects of interest in which a majority of the registered objects of interest are false positives including false detections by individual sensors and false combinations of detections from respective ones of the individual sensors including combined detections that are not from a same object.
 
12. A system comprising:
two or more sensors and one or more first computers of an object detection system configured to register objects of interest and to allow more false positives for the registered objects of interest so as to minimize false negatives; and
one or more second computers configured to perform operations comprising
obtaining three-dimensional positions of objects of interest registered by the object detection system,
forming hypotheses of objects in motion in three-dimensional space using a filter applied to the three-dimensional positions of the registered objects of interest, wherein the filter allows connections between specific ones of the registered objects of interest when estimated three-dimensional velocity vectors for the specific objects of interest roughly correspond to an object in motion in three-dimensional space across time,
eliminating a proper subset of the hypotheses that are not further extended by connections made, during the forming, with at least one additional object of interest registered by the object detection system,
specifying at least one three-dimensional track of at least one ball in motion in three-dimensional space by applying a full three-dimensional physics model to data for the three-dimensional positions of the registered objects of interest used in the forming of at least one hypothesis that survives the eliminating, and
outputting for display the at least one three-dimensional track of the at least one ball in motion in three-dimensional space;
wherein the obtaining comprises receiving or generating the three-dimensional positions of the registered objects of interest in which a majority of the registered objects of interest are false positives including false detections by individual ones of the two or more sensors and false combinations of detections from respective ones of the two or more sensors including combined detections that are not from a same object.
 
22. A non-transitory computer-readable medium encoding instructions that cause data processing apparatus associated with an object detection system comprising two or more sensors to perform operations comprising:
obtaining three-dimensional positions of objects of interest registered by the object detection system, which is configured to allow more false positives for the registered objects of interest so as to minimize false negatives;
forming hypotheses of objects in motion in three-dimensional space using a filter applied to the three-dimensional positions of the registered objects of interest, wherein the filter allows connections between specific ones of the registered objects of interest when estimated three-dimensional velocity vectors for the specific objects of interest roughly correspond to an object in motion in three-dimensional space across time;
eliminating a proper subset of the hypotheses that are not further extended by connections made, during the forming, with at least one additional object of interest registered by the object detection system;
specifying at least one three-dimensional track of at least one ball in motion in three-dimensional space by applying a full three-dimensional physics model to data for the three-dimensional positions of the registered objects of interest used in the forming of at least one hypothesis that survives the eliminating; and
outputting for display the at least one three-dimensional track of the at least one ball in motion in three-dimensional space;
wherein the obtaining comprises receiving or generating the three-dimensional positions of the registered objects of interest in which a majority of the registered objects of interest are false positives including false detections by individual sensors and false combinations of detections from respective ones of the individual sensors including combined detections that are not from a same object.