鹰眼系统简介

基于计算机视觉技术的羽毛球“鹰眼”系统的设计与研究摘要计算机视觉技术被广泛应用于国防，工业，交通和体育产业，并发挥着越来越重要的作用。国际网球公开赛中的鹰眼系统作为计算机视觉在体育中应用的典型代表，为网球运动带来了前所未有的发展和新的活力。与此同时，呼唤羽毛球鹰眼系统的呼声越来越高，但是应用在羽毛球运动上的鹰眼技术还有一定的局限性，如何将相应的计算机视觉技术和羽毛球运动结合起来，为羽毛球赛事、羽毛球教学中带来新的活力和兴奋点以及新的方法和手段，成为了目前一个新的研究课题。羽毛球“鹰眼”系统以计算机视觉技术为背景，使计算机技术与羽毛球运动相结合，核心是研究摄像机标定、运动物体检测、目标定位等计算机视觉技术。本文在阅读大量国内外文献的基础上，根据羽毛球运动的特点，设计并通过实验实现了基于计算机视觉的羽毛球“鹰眼”系统。针对系统的要求和实际试验情况，采用了SONYFDR-AX1E摄像机采集视频图像；使用了Tsai两步法对摄像机进行了标定，并获得了左右两个摄像机的内参数和外参数、两个摄像机之间的位姿变换关系以及摄像机坐标系与世界坐标系之间的关系，为三维信息获取奠基了基础；检测运动物体目标时，背景差分法的使用，以及结合了实时更新背景图像的方法，提高了羽毛球检测的准确性；在对羽毛球进行定位时，联合背景差分、数学形态学中的开运算和特征点统计的方法，可以稳定、精确的检测羽毛球目标的质心，对光照变化不敏感，鲁棒性较好；基于羽毛球“鹰眼”系统目标唯一的特点以及实时性的要求，在获取羽毛球目标的二维质心之后，使用立体视觉算法求得了羽毛球目标的三维信息；针对三维数据中的误差，用最小二乘法对曲线进行拟合，平滑处理了数据。系统运行表明使用的方法快速、有效，具有很好的鲁棒性，精度误差约为2cm，准确的判断羽毛球的第一落点，可以满足系统的要求。关键词：羽毛球“鹰眼”；计算机视觉；运动目标检测；4DesignandResearchoftheBadmintonHawkeyeSystemBasedonComputerVisionAbstractComputerVisionTechnologyiswidelyusedinthenationaldefense,industry,transportationandsports,andplaysanincreasingimportantroleinthesefield.Asthetypicalexampleoftheapplicationofthecomputervisioninthesportsfield,TennisHawkeyeSystembringstheunprecedenteddevelopmentandnewenergy.Atthesametime,thevoiceofcallingBadmintonHawkeyeSystemisgettinghigherinrecentyears.However,there’sstillsomelimitationswhenapplyingBadmintonHawkeyeSystem.Soitbecomesanewresearchtopiconhowtocombinethecomputervisiontechnologyandbadminton,andtobringthenewenergyandexcitementtothebadmintonmatchesandteaching.Basedonthecomputervision,thebadmintonHawkeyesystemoffersaneffectiveplatformofthecombinationofthecomputertechnologyandbadmintonsports.Intheprocessofthesystemdesignandimplementation,thecameracalibration,movingobjectdetection,objectlocationandbinocularstereovisionarefocusedresearched.Onthebasisofreadingalargenumberofliteratureathomeandabroad,andaccordingtothecharacteristicofbadmintonsports,theBadmintonHawkeyeSystembasedoncomputervisionisstudiedanddesigned.TwoSONYFDR-AX1Ecamerasareusedtocapturevideoimagesaccordingtothesystemrequirementsandrealitysituationoftheexperiment.Tsaitwo-stepmethodisusedtocalibratethecameras,andtheinternalandexternalparametersofthetwocameras,theposetransformationrelationsofthetwocamerasandtherelationshipsofthecameracoordinateandtheworldcoordinatearegot,whichlaythefoundationfor3Dinformationacquisition.Whendetectingthemovingobject,combinedwiththemethodofupdatingbackground,backgrounddifferencingisusedfortheaccuracyofthetest.Whenlocatingtheobject,themethodofbackgrounddifferencing,openingoperationofthemathematicalmorphologyandstaticoffeaturepointsarecombinedtodetecttheobjectsteadilyandaccurately,andwhicharenotsensitivetoilluminationvariation,andthesystemhasthebetterrobustness.Aftergettingthetwo-dimensionalcentroidoftheobject,thethree-dimensionspatialinformationareobtainedusingstereovisionalgorithmbasedontheuniquenessandthereal-timeofthebadmintonHawkeyesystem.Curvefittingisusedforreducingthethree-dimensiondataerror,andsmoothingprocessthedata.5Theoperationshowsthatthemethodsusedinthesystemarefastandeffective,andhavebetterrobustness,theaccuracyerrorisabout2cm，whichsatisfiedtherequirementsandcouldjudgethefirstplacementofbadminton.Keyword:BadmintonHawkeyesystem;computervision;movingobjectdetection6目录摘要.........................................................................................................................................2Abstract...................................................................................................................................4第一章绪论.............................................................................................................................91.1引言.....................................................................................................................91.2研究背景及意义.................................................................................................91.2.1鹰眼系统简介.......................................................................................................................91.2.2计算机视觉技术及其发展.................................................................................................101.2.3摄像机标定技术.................................................................................................................121.2.4运动目标检测技术的发展和应用.....................................................................................141.2.5三维重建技术的应用及其发展.........................................................................................14第二章羽毛球“鹰眼”系统的分析与设计.........................................................................172.1羽毛球“鹰眼”系统的提出...............................................................................172.2羽毛球“鹰眼”系统的特点...............................................................................172.3羽毛球“鹰眼”系统的设计...............................................................................182.3.1系统描述.............................................................................................................................182.3.2系统的硬件方案设计...........................................................