Abstract:
In a method for assisting a golf player in tracking golf shots comprises, a video camera is operated at one point along a golf course fairway to generate a video signal encoding an image of a plurality of substantially stationary objects and of a target golf ball moving relative to the stationary objects. A computer is operated to process the video signal to detect the target golf ball, to automatically determine a path of motion of the target golf ball, and to modify at least a portion of the video signal to superimpose on a display of the stationary objects a curvilinear indication of the determined path of motion of the target golf ball. The camera is moved along the fairway toward the resting golf ball. The image displayed in modified to incorporate the changing view of the fairway, as well as a changed portion of the golf ball&#39;s path.

Description:
BACKGROUND OF THE INVENTION 
     This invention relates to the game of golf. More particularly, this invention relates to a method and an apparatus for assisting a golfer in tracking a golf ball which he or she has hit. 
     It is well known that a golfer must keep his or her head down when executing a golf stroke. If the head is moved upward prior to the completion-of the stroke, the golf club is likely to hit the ball at an undesired angle, thus causing the ball to hook or slice. Other misdirected strokes are also possible with an improper swing. For example, the ball might be “topped,” which may result in a dribbling of the ball down the fairway. 
     Golf balls which have been sliced or hooked are frequently located in deep rough, tree groves or other hazards. Typically, these misdirected balls are very difficult to find. This difficulty, however, does not deter the golfer from his or her search. On the contrary, because of a two-stroke penalty imposed if a new ball has to be played, the golfer is especially motivated to find a misdirected ball. The search for a missing ball is pursued even though the golfer&#39;s companions, as well as other golfers on the course, are delayed in their pursuit of the game. 
     The hooking and slicing of golf balls is difficult to cure. Golfers prone to such strokes can be reinforced in their faulty swings by the very anxiety of losing the ball. Anticipating that he or she will slice or hook the ball, the golfer looks up prior to the termination of his or her swing, with the intention of visually tracking the ball. Thus, the fear of hooking or slicing causes the hooking or slicing. 
     OBJECTS OF THE INVENTION 
     An object of the present invention is to provide an apparatus and/or method which can improve a golfer&#39;s swing. 
     A more particular object of the present invention is to provide an apparatus and/or method which assists a golfer in tracking a hit golf ball. 
     Another object of the present invention is to provide such an apparatus and/or method which is easy to use. 
     A further object of the present invention is to provide such an apparatus and/or method which assist a golfer in keeping a record of his or her progress. 
     These and other objects of the present invention will be apparent from the drawings and description herein. 
     SUMMARY OF THE INVENTION 
     The present invention is generally directed to a camera and computer assisted device which automatically tracks a golfer&#39;s golf shots, thereby helping the golfer concentrate on his or her swing. 
     An apparatus for assisting a golf player in tracking golf shots comprises, in accordance with the present invention, a video camera generating a video signal encoding an image of a plurality of substantially stationary objects and of a target golf ball moving relative to the stationary objects. The apparatus further comprises a computer operatively connected to the camera for receiving the video signal therefrom. The computer includes generic digital processing circuits modified by programming (a) to process the video signal to detect the target golf ball, (b) to determine a path of motion of the target golf ball, and (c) to modify at least a portion of the video signal to superimpose on a view of the stationary objects a curvilinear indication of the determined path of motion of the target golf ball. The apparatus also includes a display operatively connected to the computer for receiving the modified portion of the video signal and displaying the view with the indication of the determined path of motion. 
     Generally, the computer encodes and stores the path of the golf ball so that the path may be displayed in overlay on an image of a fairway (or a driving range) after the ball has landed. As the golfer moves down the fairway to find his or her ball, the computer updates the displayed path to show successively shorter terminal portions of the ball&#39;s path. 
     In accordance with another feature of the present invention, the computer includes first additional generic processing circuits modified by programming to process the video signal to automatically estimate a distance of travel of the target golf ball and further includes second additional generic processing circuits modified by programming to generate a report as to the estimated distance of travel of the target golf ball. The report may be communicated visually to the user by providing a numerical figure on the display. Alternatively speech synthesis software and a speaker may be provided for an aural communication of the estimated distance of a golf shot. The estimate of distance may be accomplished on a driving range simply by having the computer automatically compare the final location of the ball with distance markers located on the driving range. On a golf course, the computer may require further input to make an accurate distance estimate. For example, the apparatus may be provided with a Doppler-type speed sensor and an angle or azimuth detector for enabling a calculation of distance from ball velocity and trajectory. Alternatively, the computer may be preprogrammed with distance data corresponding to visual markers such as trees and other hazards located along a fairway. A comparison executed by the computer pursuant to pattern recognition techniques identifies a hazard near which a hit ball has landed. A table is then consulted by the computer to determine the distance of the shot. 
     The computer optionally includes generic processing circuits modified by programming to classify the determined path of motion in one of a plurality of different classes of golf ball strokes or paths, to generate a statistical quantity incorporating the classification of the determined path of motion, and to store the statistical quantity. The statistical quantity may be simply the number of strokes of a certain type, such as hooks or slices. In addition, a percentage or proportion of the total strokes which are slices or hooks may be computed. This percentage can be calculated over several time periods of different durations, for example, over weeks, months and/or years. Thus, the computer compiles a record of the user&#39;s golf performance over time enabling the user to easily apprehend his or her progress at different times. Of course, the statistics compiled by the computer may include other numerical quantities, such as average estimated distances of travel, overall and according to the type of stroke, such as straight, slice, hook. The statistical quantities are all stored for subsequent communication to a user. 
     Pursuant to a further feature of the present invention, the computer includes additional generic processing circuits modified by programming to provide visually differentiable path indicators for different golf balls. For example, the additional generic processing circuits may indicate the paths of different balls in different colors on the display. If more than one of these shots are difficult to locate, the computer may be keyed to a particular point where the paths to the different balls diverge. Upon assisting in the locating of one ball, the apparatus is returned to the point of divergence to continue with tracking of another ball. The computer stores the different paths separately and is instructed to then track another ball. In that event, the computer is provided with a keyboard or other input to assist in selecting a ball path for tracking. 
     Pursuant to an additional feature of the present invention, the apparatus includes memory or signal store operatively connected to the computer for storing at least a portion of the video signal for later replay to a user. This feature is useful in the event that the user executes an especially memorable play. He or she may wish to review the shot at later date alone or with others. The computer may be provided with an output for downloading the video of the stored play to another computer of to a video tape machine. 
     The computer may be provided with additional generic processing circuits modified by programming to alter at least a portion of a subsequently received video signal from the camera to superimpose on a different view of the stationary objects a downstream or end segment of the curvilinear indication of the determined path of motion. In other words, the computer changes the displayed path to accord with the different view of the stationary objects as the stationary objects are approached and passed by the user during his or her negotiation of the fairway towards the green. This feature further assists a user to follow the path of a golf ball on the display even as the user approaches the ball at its location along a golf course fairway. 
     A method for assisting a golf player in tracking golf shots comprises, in accordance with the present invention, (a) operating a video camera to generate a video signal encoding an image of a plurality of substantially stationary objects and of a target golf ball moving relative to the stationary objects, (b) providing a display and a computer operatively connected to the display and to the camera for receiving the video signal from the camera, (c) operating the computer to process the video signal to detect the target golf ball, (d) further operating the computer to automatically determine a path of motion of the target golf ball, (e) additionally operating the computer to modify at least a portion of the video signal to superimpose on a view of the stationary objects a curvilinear indication of the determined path of motion of the target golf ball, and (f) also operating the computer to display on the display the view with the indication of the determined path of motion. 
     According to further aspect of the present invention, the computer is operated (g) to process the video signal to automatically estimate a distance of travel of the target golf ball and to generate a report as to the estimated distance of travel of the target golf ball and (h) to classify the determined path of motion in one of a plurality of different classes of golf ball strokes or paths, to generate a statistical quantity incorporating the classification of the determined path of motion, and to store the statistical quantity. The computer may be additionally operated to generate a statistical quantity incorporating the estimated distance of travel, and to store the statistical quantity for subsequent communication to a user. 
     An apparatus for monitoring motion of a ball comprises, in accordance with the present invention, a video camera and a computer operatively connected to the camera for receiving therefrom a video signal encoding an image of a plurality of relatively stationary objects and of a target object moving relative to the stationary objects, the computer being programmed (a) to analyze the video signal to detect the moving object, (b) to determine a path of motion of the moving object, (c) to modify at least a portion of the video signal to superimpose on at least a portion of the image a curvilinear indication of the determined path of motion of the moving object. A display is operatively connected to the computer for receiving the modified portion of the video signal and displaying the view with the indication of the determined path of motion. 
     The present invention is especially useful for individual golf players who do not customarily play golf with a caddy or other persons inclined to track golf shots. An apparatus and/or method in accordance with the present invention can improve a golfer&#39;s swing in particular by assisting the golfer in tracking a hit golf ball. Because the golfer need not worry about following the motion of his or her ball, he or she is facilitated in maintaining proper posture during the golf swing. 
     An apparatus and/or method in accordance with the present invention is easy to use. The main operation of the apparatus is automatic and thus user friendly. 
     An apparatus and/or method in accordance with the present invention assists a golfer in keeping a record of his or her progress. 
    
    
     BRIEF DESCRIPTION OF THE DRAWINGS 
     FIG. 1 is a block diagram of an apparatus for assisting a golfer in tracking his or her golf ball. 
     FIG. 2 is a diagram illustrated a generic golf fairway as viewed from the tee. 
     FIG. 3 is an elevational view of a video display or picture screen shown in FIG. 1, showing an image on the screen. 
     FIG. 4 is a view similar to FIG. 3, showing another image on the screen. 
     FIG. 5 is a schematic perspective view of a casing containing the camera and computer of FIG.  1 . 
     FIG. 6 is a view similar to FIGS. 3 and 4, showing a different image on the screen. 
    
    
     DESCRIPTION OF THE PREFERRED EMBODIMENTS 
     As illustrated in FIG. 1, an apparatus for assisting a golfer in tracking shots made by the golfer basically comprises a camera  10  and a computer  12  connected thereto. Camera  10  takes the form of a video camera which generates a video signal encoding an image of a plurality of substantially stationary objects, for example, trees TRS (FIG.  2 ), a golf fairway FW, a green GN and other hazards of a golf course particularly as viewed from a golf tee TE. Successive frames of the video image are temporarily stored in respective buffers  14  of computer  12 . Buffers  14  arc connected in cascade to one another and at respective outputs to a module or circuit  16  of computer  12  for comparing the successive frames to detect a moving object such as a golf ball GB (FIG.  2 ). Detector module  16  may be provided with a dedicated internal memory for identifying one or more objects which are to be tracked by computer  12 . This option eliminates the tracking of irrelevant objects such as birds and other fauna populating golf courses. 
     Computer  12  further includes a path detector  18  operatively connected at an input to detector module  16  for analyzing information from module  16  to determine, characterize, and temporarily store the curved path  19  of a golf ball struck by the user of the apparatus. Detector module  16  is also connected to an input of a memory or buffer  20  which temporarily stores a representative video frame or picture of fairway FW from tee TE. This representative frame or picture is stored until the next play by the user. A keypad  22  may be provided with a button (not separately illustrated for zeroing or resetting various modules or circuits of computer  12 , including reference-frame memory or buffer  20 . 
     The frame or picture stored by memory or buffer  20  serves as a reference for a updating operation performed by a comparator  24 . Comparator  24  receives another video frame from a current frame buffer  26  connected to camera  10 . The video frame from buffer  26  is a current or real-time view of the fairway captured by camera  10  as the user passes down fairway FW on the way to his or her ball. Comparator  24  compares the current view with the original or reference view from memory or buffer  20  and provides a cropping signal to a partial path calculator  28 . Path calculator  28  receives the entire path  19  from detector  18  and, in response to the cropping signal from comparator  24 , selects an end portion  29  of that path to match the current view from buffer  26 . The current, partial view of fairway FW is transmitted from frame comparator  24  to a path superposition module  30  which also received the corresponding partial path  29  as selected by path calculator  28 . Superposition module  30  generates a video frame of the current view from camera  10  with the appropriate end portion  29  of the path  19  of ball GB integrated into the image to overlie the images of the trees TRS and other stationary objects. 
     The current image with the superimposed ball path  19  or the superimposed end portion  29  is viewed on a video display or picture screen  50 . FIG. 3 illustrates the view from tee TE as displayed on picture screen  50 , while FIG. 4 depicts a view from an intermediate position along fairway FW and shows only end portion  29  of path  19 . Video display or picture screen  50  may be provided along a rear panel  56  of a casing  58  of camera  10  and computer  12 , as illustrated in FIG.  5 . Casing  58  is removably mounted to a tripod  60  which may be easily collapsed and inserted into a golf bag (not shown). Casing  58  may be carried by hand or even attached to a golf cart via an armature (not shown). 
     A video signal encoding the image of fairway FW with the ball path  19  or  29  is supplied to video display or picture screen  50  by a new-frame generator  32  connected to an output of superposition module  30 . Further modifications to the image of the current view may be made by new-frame generator  32 . Such modifications may include, for example, one or more statistical quantities characterizing the golf play of the user. Such quantities are transmitted from a statistics calculator  34 . Calculator  34  receives input, for example, from a shot classifier  36  and a distance determination module  38 . Shot classifier  36  determines whether a golf ball path  19  falls into any of several categories including slice, hook and straight path, while statistics calculator  34  consults a statistics memory  40  to determine such mathematical quantities as the proportion of shots made by the golfer within a certain time period are slices, hooks and straight shots. Distance determination module  38  provides estimates for the distances of at least some shots made by the golfer or user, while statistics calculator  34  consults memory  40  combines the determined distance with prior distances to yield a new average distance for the type of shot. Thus, statistics calculator  34  will maintain in memory  40  an average distance for slices, an average distance for hooks, and an average distance for straight shots. Other statistical quantities updated periodically or regularly by statistics calculator  34  is the percentage of total shots which are hooks, the percentage of total shots which are slices and the percentage of total shots which are straight shots. 
     Shot classifier  36  and distance determination module  38  are informed by a pattern recognition circuit or module  42  which in turn is provided with the reference frame from buffer  20  and the determined path  19  from path detector  18 , as combined by a path superposition module  44 . Pattern recognition module  42 , for example, determines boundaries of a fairway and compares a golf ball path  19  with those boundaries. The comparison result is fed to shot classifier  36  which then decides whether the golf ball path  19  is a hook, a slice or a straight shot. Pattern recognition module  42  also reviews the representative frame or reference picture from buffer  20  to identify objects such as distance markers for enabling module  38  to make a distance determination. 
     Path superposition module  44  basically constructs an image of the original view from tee TB with the path  19  of ball GB superimposed in diagrammatic form (e.g., a colored line, a broken line, a series of arrows) on that view. This combined or edited view may be stored in a special memory  46  in response to an instruction from keypad  22 . A user may wish to take advantage of this storage feature where a particular shot is unusually good, e.g., a hole in one. Alternatively , there may be a sufficient number of frame buffers  14  and adequate storage space in memory  46  so that an entire video sequence may be stored. In this case, a sequence of frames are loaded into memory  46  in response to an instruction from keypad  22 . The user can playback the entire sequence as a video short memorializing a memorable golf shot. 
     In response to a further instruction from keypad  22 , a digitalized still picture with a superimposed ball path may be delivered to picture screen or video display  50  from memory  46  via a replay unit  52 . Alternatively, new-frame generator.  32  feeds a current frame, as modified with a superimposed ball path, to picture screen or video monitor  50 . An override (not shown) connected to keypad  22  or replay unit  52  may be provided for temporarily blocking the video signal from new-frame generator  32  during a replay requested by the user. 
     Special shots memory  46  is also linked at an output to a port or interface  54  for purposes of enabling transfer of digitized image information from the memory to another device such as a desktop computer or a digital video recorder (neither shown). 
     As discussed above, camera  10  produces a video signal which is processed by computer  12  to detect golf ball GB, to determine ball path  19 , and to modify at least a portion of the video signal to superimpose on a view of the stationary objects such as trees TRS a curvilinear indication of the determined path of motion  19  of golf ball GB. Generally, computer  12  encodes and stores golf ball path  19  so that the path may be displayed in overlay on an image of fairway FW after the ball has landed. As the golfer moves down fairway FW to find ball GB, computer  12  updates the displayed path to show successively shorter terminal portions  29  of the ball&#39;s path  19 . Computer  12  is provided with functional digital processing modules  38 ,  42 , and  44  to process the video signal to automatically estimate a distance of travel of golf ball GB and further digital processing modules  34  and  40  to generate a report as to the estimated distance of travel of golf ball GB. As discussed above, this report is communicated visually to the user by providing a numerical figure on video display or picture screen  50 . Alternatively, speech synthesis software and a speaker (not shown) may be provided for an aural communication of the estimated distance of a golf shot. The estimate of distance is accomplished on a driving range simply by having computer  12  operate pursuant to pattern recognition software to automatically compare the final location of ball GB with distance markers located on the driving range. On a golf course, computer  12  may estimate distance pursuant to markers such as particular trees TRS, the distances of these markers and their identities being preloaded into computer  12  for the different holes of a course. A comparison executed by computer  12  pursuant to pattern recognition techniques identifies a hazard near which a hit ball has landed. A table is then consulted by computer  12  to determine the distance of the shot. Alternatively, computer  12  may be connected to a Doppler-type speed sensor (not shown) and an angle or azimuth detector (not shown) for enabling a calculation of distance from ball velocity and trajectory. 
     As indicated in FIG. 6, computer  12  is capable of providing visually differentiable indications of paths  62 ,  64 ,  66 ,  68  for different golf balls of the members of a group of golfers. For example, paths  62 ,  64 ,  66 ,  68  may be displayed in different colors on video display or picture screen  50 . Alternatively, the displayed paths  62 ,  64 ,  66 ,  68  may have different line types, such as solid, dashed, dotted, and dot-dashed. If more than one of these shots are difficult to locate, computer  12  may be keyed to a particular point where the paths to the different balls diverge. Upon assisting in the locating of one ball, the apparatus is returned to the point of divergence to continue with tracking of another ball. The computer stores the different paths  62 ,  64 , 66 ,  68  separately and is instructed to then track another ball. Keypad  22  is used by the golfers to instruct computer  12  in selecting a ball path for tracking. 
     Computer  12  is generally contemplated to be a specially programmed microprocessor having generic digital processing circuits modified by programming to form the various modules and circuits discussed above with reference to FIG.  1 . 
     The present invention may be utilized on a golf driving range, as well as on a golf course. The apparatus of FIG. 1 can track successive practice shots, show the paths of one or more golf balls on screen or display  50 . 
     Although the invention has been described in terms of particular embodiments and applications, one of ordinary skill in the art, in light of this teaching, can generate additional embodiments and modifications without departing from the spirit of or exceeding the scope of the claimed invention. Accordingly, it is to be understood that the drawings and descriptions herein are proffered by way of example to facilitate comprehension of the invention and should not be construed to limit the scope thereof