JP5155841B2 - Scorability quantification device and scoring possibility quantification program - Google Patents

Description

  The present invention relates to a technique for analyzing team sports tactics in which a plurality of players are divided into a plurality of teams and compete for scores by putting a ball into an opponent goal.

The following are known as conventional sports tactic analysis methods.
For example, Patent Document 1 discloses a method for predicting the behavior of each player from the player placement information and the ball position information and calculating the dominance level of each team. In this method, a mesh-like area is set on the field, a team superiority is obtained for each area, and a pass candidate character is determined based on the team superiority.

  Further, for example, Patent Document 2 discloses a method for determining a direction in which a pass is to be issued based on player placement information, a player's field of view, and posture. This method evaluates the behavior of the ball holder and determines the superiority of the team based on this.

Japanese Patent No. 3533393 (paragraph 0054 to paragraph 0058, FIG. 7) Japanese Patent Laying-Open No. 2006-204420 (paragraph 0006, FIG. 3)

  The results obtained in this way can be used to predict the future game flow or to consider the tactics of each team even if the operator is not familiar with the tactics and rules of the target sports competition. It should be easy to understand. However, in the techniques described in Patent Document 1 and Patent Document 2, the control area of each team is visualized, and the team superiority for each control area is obtained, or the action is determined based on the team superiority. Therefore, when the operator is not familiar with the tactics and rules of the target sport competition, it is difficult to understand the output result.

  Further, in the techniques described in Patent Document 1 and Patent Document 2, since the dominant area of each team is visualized and the superiority of each team for each area is determined, the possibility of scoring itself is quantified. I could not. For this reason, for example, even if an inferior team shoots from a certain position, even if there is a position where the possibility of scoring is high, it is possible to analyze tactics considering such circumstances could not.

  The present invention has been made in view of the above problems, and in team sports in which a plurality of players are divided into two teams and compete for scores by putting a ball into the opponent's goal, from a designated point The goal is to quantify the likelihood that the shoot will lead to a score.

  In order to achieve the above-mentioned problem, the scoring possibility quantification device described in claim 1 is a team sport in which a plurality of players are divided into two teams and compete for scores by putting the ball in the opponent's goal. A scoring possibility quantification device that quantifies the possibility of the scoring from a target position specified on a competition area by an operation signal input from outside, a goal image calculating means, a disturbing area setting means, The interference area image calculating unit, the union calculating unit, the difference set calculating unit, and the area calculating unit are provided.

According to such a configuration, the scoring possibility quantification device uses the goal image calculation means to move to a predetermined image plane in a predetermined goal opening area on the defensive side whose viewpoint is the attention position specified on the competition area. A goal image that is a projected image of is calculated. In addition, the scoring possibility quantification device can prevent each player on the defending side in the real space from blocking the shot based on the position where the player on the defending team is located in the real space coordinate system by the interference area setting means. A three-dimensional area is set, and the obstruction area image calculation means calculates an obstruction area image that is a projection image of the three-dimensional area set by the obstruction area setting means with the target position as the viewpoint onto a predetermined image plane. Next, the scoring possibility quantification apparatus calculates a total disturbing area image that is a union of the disturbing area images of each player calculated by the disturbing area image calculating means by the union calculating means. Subsequently, the scoring possibility quantification device uses the difference set calculation means to obtain a shootable area image that is a difference set obtained by subtracting all the disturbing area images calculated by the union calculation means from the goal image calculated by the goal image calculation means. calculate. Then, the scoring possibility quantification apparatus calculates the area of the shootable region image calculated by the difference set calculation means by the area calculation means, and calculates an evaluation value of the possibility of scoring according to the calculated area.
Thus, the scoring possibility quantification apparatus quantifies the scoring possibility as an evaluation value according to the area of the shootable region image.

  The scoring possibility quantifying device according to claim 2 is the scoring possibility quantifying device according to claim 1, wherein the predetermined image plane in the goal image calculating means and the disturbing area image calculating means is centered on the position of interest. It was made into a spherical surface.

According to such a configuration, the scoring possibility quantification apparatus uses the spherical image centered on the position of interest as the solid area set by the goal opening area and the obstruction area setting means by the goal image calculation means and the obstruction area image calculation means, respectively. A goal image and an obstruction area image which are projection images are calculated. The scoring possibility quantification apparatus calculates a shootable area image based on the calculated goal image and disturbing area image by the union calculation means and the difference set calculation means, and calculates the difference set by the area calculation means. An evaluation value of the possibility of scoring is calculated according to the area of the shootable region image calculated by the means.
Thus, the scoring possibility quantification apparatus quantifies the scoring possibility as an evaluation value according to the area of the shootable region image projected on the spherical surface centered on the target position.

  The scoring possibility quantifying apparatus according to claim 3 is the scoring possibility quantifying apparatus according to claim 1, wherein the predetermined image plane in the goal image calculating means and the disturbing area image calculating means is a goal opening from the target position. A plane with a half line toward the center of the region as a normal line was used.

According to such a configuration, the scoring possibility quantification apparatus uses the goal image calculation means and the obstruction area image calculation output means to convert the solid areas set by the goal opening area and the obstruction area setting means, respectively, from the target position to the goal opening area. A goal image and an obstruction area image, which are projection images onto a plane whose normal is a half line toward the center, are calculated. The scoring possibility quantification apparatus calculates a shootable area image based on the calculated goal image and disturbing area image by the union calculation means and the difference set calculation means, and calculates the difference set by the area calculation means. An evaluation value of the possibility of scoring is calculated according to the area of the shootable region image calculated by the means.
As a result, the scoring possibility quantification apparatus evaluates the possibility of scoring according to the area of the shootable area image projected on a plane having a normal line from the target position to the center of the goal opening area. Quantify as

  The scoring possibility quantifying device according to claim 4 is the scoring possibility quantifying device according to any one of claims 1 to 3, wherein the disturbing area setting means determines the movement speed of the defending player. Accordingly, the arrangement position of the three-dimensional area by the defending player is set.

According to such a configuration, the scoring possibility quantifying apparatus sets the arrangement position of the three-dimensional area by the defending player according to the moving speed of the defending player by the disturbing area setting means.
Thereby, the scoring possibility quantification device predicts the position of the player after 3 seconds, for example, from the moving speed of the defending player, and determines the arrangement position of the three-dimensional area (disturbance area) based on the predicted position.

  The scoring possibility quantifying apparatus according to claim 5 is the scoring possibility quantifying apparatus according to any one of claims 1 to 4, wherein the disturbing area setting means includes a position of the defending player and attention. Based on the distance to the position, the time until the ball reaches the defending player from the target position is estimated, and based on the product of the estimated time and the speed at which the defending player can move, the 3D by the defending player It was configured to set the range of the area.

According to such a configuration, the scoring possibility quantifying device calculates the time until the ball reaches the defending player from the attention position based on the distance between the position of the defending player and the attention position by the disturbing area setting means. Based on the product of the estimated time and the movable speed of the defending player, that is, the movable distance, the range of the three-dimensional area by the defending player is set.
In this way, the scoring possibility quantification device determines the range (size) of the three-dimensional area (disturbance area) by the defending player based on the distance that can be moved from the time the ball is shot until it reaches the defending player. ).

  The scoring possibility quantifying device according to claim 6 is the scoring possibility quantifying device according to any one of claims 1 to 5, wherein the area calculating means is calculated by a difference set calculating means. The area of the shootable region image is calculated with a weight that decreases as the point constituting the shootable region image moves away from a specific point on a predetermined image plane.

According to such a configuration, the scoring possibility quantifying apparatus calculates the area of the shootable region image calculated by the difference set calculating unit by using the area calculating unit, and calculates the shootable region image from a specific point on a predetermined image plane. The calculation is performed with a weight that decreases as the constituent points are separated.
As a result, the scoring possibility quantification apparatus calculates a higher evaluation value as the number of specific points on a predetermined image plane, for example, an area close to the center point of the image plane is included in the shootable area image.

  The scoring possibility quantification program according to claim 7 is a team sport in which a plurality of players are divided into two teams and compete for scores by putting a ball into the opponent's goal. In order to quantify the possibility of the scoring from the attention position specified on the area, the computer includes a goal image calculation means, a disturbance area setting means, a disturbance area image calculation means, a union calculation means, and a difference set calculation means. And function as an area calculation means.

According to such a configuration, the scoring possibility quantification program causes the goal image calculation means to move to a predetermined image plane in a predetermined goal opening area on the defensive side whose viewpoint is the attention position specified on the competition area. A goal image that is a projected image of is calculated. In addition, the scoring possibility quantification program can prevent each player on the defending side in the real space from blocking the shot based on the position where the player on the defending team is located in the real space coordinate system by the interference area setting means. A three-dimensional area is set, and the obstruction area image calculation means calculates an obstruction area image that is a projection image of the three-dimensional area set by the obstruction area setting means with the target position as the viewpoint onto a predetermined image plane. Next, the scoring possibility quantification program calculates a total disturbance area image which is a union of the disturbance area images of each player calculated by the disturbance area image calculation means by the union calculation means. Subsequently, the scoring possibility quantification program obtains a shootable area image that is a difference set obtained by subtracting all the disturbing area images calculated by the union calculation means from the goal image calculated by the goal image calculation means by the difference set calculation means. calculate. Then, the scoring possibility quantification program calculates the area of the shootable area image calculated by the difference set calculation means by the area calculation means, and calculates an evaluation value of the possibility of scoring according to the calculated area.
Thus, the scoring possibility quantification program quantifies the scoring possibility as an evaluation value according to the area of the shootable region image.

According to the invention described in claim 1 or 7, the player of the enemy team (defensive team) against the apparent size of the goal opening area with the attention position as a viewpoint and the shot from the attention position to the goal opening area The possibility of successful shooting, that is, the possibility of scoring can be quantified in consideration of the area that can be obstructed by.
According to the second aspect of the present invention, the shootable area image is calculated based on the goal image and the disturbance area image which are projection images onto the spherical surface centered on the target position of the goal opening area and the three-dimensional area (interference area). For this reason, the shape of the projected image in each region having the spherical surface as the image plane is constant regardless of the orientation of the image plane. For this reason, the relationship between the area of the shootable region image and the evaluation value of the scoring possibility becomes constant regardless of the orientation of the image plane, and the load for calculating the evaluation value can be reduced.
According to the third aspect of the present invention, the goal image and the obstruction are projection images onto a plane whose normal is a half line from the target position of the goal opening area and the three-dimensional area (interference area) to the center of the goal opening area. Since a shootable area image is calculated based on the area image, the projection is equivalent to that obtained by shooting an object such as a player or goal opening area with a normal camera. This projection is an operation that is frequently used in computer graphics. By using an existing DSP (Digital Signal Processor) that performs this operation at high speed, or a processor or system called a graphics engine, high-speed arithmetic processing can be performed at low cost. Can be realized.
According to the invention described in claim 4, in order to adjust the arrangement position of the three-dimensional area (interfering area) by the defending player according to the moving speed of the defending player, the three-dimensional area is set at a more appropriate position and scored. The certainty of the evaluation value of possibility can be improved.
According to the invention described in claim 5, the range (size) of the three-dimensional area (disturbance area) by the defending player is set to a distance that can be moved in the time from when the ball is shot until reaching the defending player. Based on this, since the range of the 3D area by the defending player is determined, a more appropriate 3D area can be set to improve the accuracy of the scoring possibility evaluation value.
According to the sixth aspect of the invention, the higher the evaluation value is, the more the region close to the specific point on the predetermined image plane is included in the shootable region image. For this reason, in order to highly evaluate the contribution of the region image easy to hit by setting a point of the goal image corresponding to the center point of the goal opening region as the specific point, for example, the point of the goal image corresponding to the center point of the goal opening region Thus, the certainty of the evaluation value of scoring possibility can be improved.

Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings as appropriate.
FIG. 1 is a schematic diagram for explaining defending player placement information, which is placement information of defending team players, input to the scoring possibility quantifying apparatus according to the embodiment of the present invention, and a target position for shooting. is there.
In this embodiment, soccer will be described as an example of a team competition for quantifying the possibility of scoring. However, in a competition in which a plurality of players divide into two teams and compete for scores by putting the ball in the opponent's goal. There is no particular limitation as long as it is present. In addition, the ball here may be anything that can be put into the goal, for example, a pack used for hockey or the like. The shot refers to directing the ball toward the goal, and represents a different expression depending on the type of competition to be applied, such as a shot.

As shown in FIG. 1, on the soccer stadium (competition area) F, the players of the team indicated by □ and the players of the team indicated by Δ are arranged. In the soccer competition, the players of the team indicated by □ and the players of the team indicated by △ score by putting the ball in the opponent goal (goal GO _A or GO _B ), and compete for this score. In the scene shown in FIG. 1, the team indicated by □ is the attacking team, and the team indicated by Δ is the defending team.
At this time, the scoring possibility quantifying apparatus of the present embodiment is connected to a display means (not shown) such as a liquid crystal display, for example, and an operator displays a soccer stadium F photographed with a camera displayed on the display means. When a certain position on the soccer stadium F is designated as an attention position f via an input means (not shown) such as a mouse or a keyboard, the image is detected by a known player position detection device (not shown). Referring to the arrangement information of the player of the defending team, to be able to calculate the evaluation value obtained by digitizing the possibility of scoring when the chute toward the goal GO _a defending team from the target position f It has become.
In addition, in a situation where the offense and defense are switched, the scoring possibility quantification device refers to the placement information of the player who will be the defending team indicated by □, and scores when shooting from the target position f toward the goal GO _B An evaluation value of possibility is calculated.

[Configuration of scoring possibility quantification device]
Next, the configuration of the scoring possibility quantification apparatus in the embodiment of the present invention will be described with reference to FIG. Here, FIG. 2 is a block diagram showing the configuration of the scoring possibility quantification apparatus in the embodiment of the present invention.

  As shown in FIG. 2, the scoring possibility quantification apparatus 1 according to the present embodiment includes a player arrangement information storage means 10, a counter 11, a player selection means 12, an obstruction area setting means 13, and an obstruction area image calculation. Means 14, goal image calculation means 15, and evaluation value calculation means 16 are included. Further, the evaluation value calculation unit 16 includes a union calculation unit 17, a difference set calculation unit 18, and an area calculation unit 19.

The scoring possibility quantification apparatus 1 is a position of interest (vector) f where the possibility of a goal is to be evaluated, the number N of players on the defending side (enemy team), and defending player placement information that is placement information of the N people. (A _n ) The evaluation value h is output in response to _{n = 1, 2,.}

The attention position f is a real space for designating a certain point in a coordinate system (hereinafter referred to as the world coordinate system) fixed to a soccer field (competition area) F (see FIG. 1) where a game is played. Numerical information. The coordinate system to be used is arbitrary, but for example, an expression based on a Cartesian coordinate system, a polar coordinate system, or a cylindrical coordinate system can be used.
In the case of a three-dimensional Cartesian coordinate system, three coordinate axes that are orthogonal to each other and set in the competition area are set with a predetermined point for the competition area as the origin, and the coordinate value is expressed by the dimension of the length in each coordinate axis direction. Can be defined.
In the present embodiment, the height of the target position f, that is, the coordinate value in the z-axis direction is a fixed value. However, as a starting point when the ball is shot, for example, the height of the ground (z = 0), The height of the player's knee can be set to a height that is half the length of the leg from the ground. Alternatively, it may be the height of the player's eyes in consideration of a psychological factor viewed from the player.

An example of setting the coordinate system in the soccer field will be described with reference to FIG. 1 again.
As shown in FIG. 1, in the case of a soccer competition, the center spot CS, which is the center of the center circle CC of the soccer stadium F, is set as the origin O, and is erected from the coach area CA side in parallel with the touch line TL. The right direction is the x-axis in the positive direction, the y-axis is the positive direction on the halfway line HL and away from the coach area CA, the z-axis is the vertical direction in the positive direction, and each axis Coordinate values can be expressed in units of meters (or units of any length such as yards or feet), respectively.

Player number N of the defense side, it is not always necessary to match the actual game players of the defending team, which competed in the number of people, it entered the defending player layout information _{(a n) n = 1,2,} ... _{, N} represents the number of players N.
Of the defending player arrangement information (a _n ), the i-th term a _i (i = 1, 2,..., N) represents the position information of the i-th player. For example, as the arrangement information a _i , the position (vector) x _i of the i-th player in the world coordinate system can be used as shown in Expression (1).

Returning to FIG. 2, the player placement information storage means 10 includes defense player placement information (a _n ) _{n = 1, 2,...} , Including position information of the defending player on the soccer field F in the world coordinate system _{. , N} are stored. A position x _i in the world coordinate system, which is position information in the arrangement information a _{i of the} i-th defending player, is detected by a known player position detection device (not shown) and appropriately stored in the player arrangement information storage means 10. It is assumed that

  Here, as the player position detection device, for example, a video object identification / tracking device described in Japanese Patent Application Laid-Open No. 2004-110448 can be used. According to this, the video object of the player in the competition is detected from the video signal obtained by shooting the stadium with the camera using the chroma key method, the motion detection method, the shape recognition, etc., and the player's position, speed, defense side or attack It is possible to specify an attribute or the like indicating which player of the team on the side.

The counter 11 sequentially generates a counter value i, which is an integer value of 1 to N, based on the input number N of players, and outputs it to the player selection means 12 and the union calculation means 17.
The counter value i is used to identify each of the defending player arrangement information (a _n ) _{n = 1, 2,..., N} stored in the player arrangement information storage means 10. Further, the counter 11 receives an input of the value of the number of players N of the defending team from the known player position detection device (not shown). Then, for example, the counter 11 outputs an integer value from 1 to N while sequentially increasing (counting up) one by one. What is necessary is just to synchronize the timing of an output with the clock signal (not shown) for operating each part of the scoring possibility quantification apparatus 1 synchronously, for example.

The player selection means 12 inputs the counter value i from the counter 11, and from the defending player arrangement information (a _n ) _{n = 1, 2,..., N} stored in the player arrangement information storage means 10, the i th In other words, the placement information a _i of the i-th player is selected and read, and the read placement information a _i is output to the disturbing area setting means 13.

Based on the arrangement information a _i input from the player selection unit 12, the obstruction area setting unit 13 is a virtual solid (as a region where the i-th player can obstruct the shot in the world coordinate system representing the position in real space. In the following, a disturbing area (three-dimensional area) B _i ) is set and arranged in the competition area. The three-dimensional shape of the virtual interference region B _i, for example, can be used a cylinder, polygonal prism, cone, pyramid ,, ellipsoid, an arbitrary three-dimensional shape of predetermined including rectangular. Note that the three-dimensional object here includes a plane having a finite size.

The range (size) of the obstruction area B _i may be always fixed or variable. For example, the three-dimensional shape of the disturbing area B _i is a sphere having a predetermined radius r, and the center position (vector) c _i of the sphere is represented by the position x _i included in the arrangement information a _i as shown in Equation (2). can do.

As described above, the case where a sphere is used as the three-dimensional shape of the disturbing area B _i is exemplified, but the same applies to the case where a solid other than the sphere is used.
For example, when a cube is used as the three-dimensional shape of the disturbing area B _i , the center position c _i of the sphere described above is read as the center of gravity of the rectangular parallelepiped, and the radius r of the sphere described above is calculated as one side of the cube. It should be read as half the length. When a cube is used as the three-dimensional shape of the disturbing area B _i , for example, handling is simple if the three orthogonal sides are parallel to the three axes of the world coordinate system (Cartesian coordinate system). .

The disturbing area image calculating means 14 receives the disturbing area B _i from the target position f and the disturbing area setting means 13, calculates the disturbing area image C _i, and outputs it to the union calculating means 17 of the evaluation value calculating means 16. .
The disturbing region image calculation means 14 quantifies the solid angular spread of the disturbing region B _i viewed from the target position f as a two-dimensional region (hereinafter referred to as the disturbing region image C _i ). That is, the disturbing area image calculating unit 14 calculates a projection image when the disturbing area B _i is projected on the image plane set with the target position f as a reference as the disturbing area image C _i and calculates the range of the disturbing area B _i . Is quantified.

Here, with reference to FIG. 3 (refer to FIG. 2 as appropriate), the relationship between the disturbing region B _i and the disturbing region image C _i that is a projection image on the image plane will be described. FIG. 3 is a schematic diagram for explaining a state of a projected image of an area on a soccer stadium on an image plane (spherical surface).
3 is a plan view of the soccer stadium F (see FIG. 1) as viewed from above, that is, from the z-axis direction.

As shown in FIG. 3, the disturbing area image calculation means 14 assumes a unit spherical surface centered on the target position f as the image plane Z, and around the position x ₁ of the defending player 1 with the target position f as a viewpoint. The interference region image C ₁ is defined as the region shape of the projected image when the interference region B ₁ set to is projected onto the spherical image plane Z. Similarly, as the viewpoint of the target position f, disturbance area image with the area shape of the projected image when projected interference area B ₂ which is set around the position x ₂ of the defending player 2 to the spherical image plane Z and C _2.

  Here, as shown in Expression (3), when the position of interest f is the viewpoint, the position (vector) p in the world coordinate system representing the position on the soccer field F (see FIG. 1), which is a real space, A projection function for converting a point into an image position (vector) q which is the position of the projected image on the image plane Z is set to φ (p; f).

At this time, the disturbing area image C _i can be obtained by Expression (4).

  Next, as shown in FIG. 3, assuming a unit sphere centered on the target position f, a projection function in the case where the point p in the world coordinate system is projected onto the unit sphere with the target position f as a viewpoint. Now, φ (p; f) will be described.

  The coordinates on the unit sphere described above are set to (α, δ). Here, α and δ are an azimuth angle and an elevation angle, respectively. The azimuth angle α is defined as α = 0, which is a half-straight line extending from the center of the unit spherical surface in the x-axis direction of the world coordinate system, and a counterclockwise rotation in the xy plane is defined as a positive direction when viewed from above the z-axis.

On the other hand, the elevation angle δ is, for example, an inclination from the xy plane, and a sign is defined so that the positive z-axis direction is a positive inclination. When the elevation angle δ is ± π / 2 rad (± 90 degrees), the azimuth angle α is arbitrary. In this case, for example, it is defined that the azimuth angle α = 0. At this time, the projection function φ (p; f) can be defined as in Expression (5).
In the present embodiment, to simplify the calculation of phi _alpha and phi _[delta], in place of the arc tan function, it is used atan2 function.

By this equation (5), the disturbing area image calculating means 14 can calculate the disturbing area image C _i from the disturbing area B _i .

Returning to FIG. 2 (see FIGS. 1 and 3 as appropriate), the description of the configuration of the scoring possibility quantification apparatus 1 will be continued.
The goal image calculation means 15 calculates a goal image G that is a projection image of the goal opening area K on the image plane Z with the target position f as a viewpoint, and outputs the calculated goal image G to the difference set calculation means 18. That is, the goal image calculation means 15, like the disturbing area image calculation means 14, uses the expression (6) to increase the solid angular spread of the goal opening area K viewed from the target position f as a goal that is a two-dimensional area. The image G is quantified.

Here, the goal opening region K will be described with reference to FIG. FIG. 4 is a schematic diagram showing the shape of the goal opening area in a soccer game.
The goal opening area K refers to an area in real space that is scored when a ball passes or touches in a target game. For example, as shown in FIG. 4, in the case of a soccer game, the front side (center spot CS side (see FIG. 1)) and inner line segments L1 and L2 of the pair of goal posts GP1 and GP2, the crossbar CB A goal opening area is a rectangular area (hatched area) surrounded by four sides consisting of a front and lower line segment L3 and a line segment L4 connecting two points where the line segments L1 and L2 contact the ground. K.

Then, as shown in FIG. 3, the goal image calculation means 15 converts the goal image G, which is a projection image of the goal GO onto the image plane Z, to the function φ (p) shown in the equations (6) and (5). F).
Note that the shape information in the world coordinate system representing the position of the goal opening area K in the real space is stored in advance in the goal image calculation means 15 and is read out appropriately when the target position f is given to calculate the goal image G. It shall be used for

Further, the scoring potential quantification apparatus 1 of this embodiment, as the goal image G and interference area image C _i, for using the projected image of the image plane Z of the spherical, regardless of the direction of the image center on the image plane Z , it does not change the shape of the goal image G and interference area image C _i. Therefore, the area of the shootable region image E, which is a difference set of these images, can be calculated as the evaluation value h without particularly considering the direction of the image plane Z.

Returning to FIG. 2, the evaluation value calculation means 16 includes a union calculation means 17, a difference set calculation means 18, and an area calculation means 19.
Evaluation value calculating means 16 based on the interference area image C _i of a goal image G input from the goal image calculation unit 15 is input from the interference region image calculation unit 14, the interference on the defending player of the goal image G The apparent size of the shootable region image E, which is a region that is not processed, is calculated and evaluated, and is output as an evaluation value h.

Next, a detailed configuration of the evaluation value calculation unit 16 will be described with reference to FIG. 2 and FIGS. 5 to 7. Here, FIG. 5 is a schematic diagram illustrating an example of a goal image and a disturbing area image, FIG. 6 is a schematic diagram illustrating an example of a total disturbing area image, and FIG. 7 illustrates an example of a shootable area image. It is a schematic diagram.
In the example shown in FIG. 5, the goal image G and the obstruction area images C ₁ and C ₂ by the two defending players are projected on the image plane Z.

The union calculating unit 17 sequentially superposes the disturbing area images C _i (i = 1, 2,..., N) by the players of the defending team input from the disturbing area image calculating unit 14 to arrange the defending teams. The total disturbing area image D which is the disturbing area image by all players to which the information has been input is calculated, and the calculated total disturbing area image D is output to the difference set calculating means 18.
For example, union calculating means 17, as shown in Equation (7), with the union of the interference area image C _i by each player defending team, and the total interference area image D.

For example, when the disturbing area images C ₁ and C ₂ are arranged as the disturbing area image C _i as shown in FIG. 5, the entire disturbing area image D is as shown in FIG.

  The difference set calculation means 18 inputs the goal image G from the goal image calculation means 15 and the total disturbance area image D from the union calculation means 17, and from the goal image G, as shown in equation (8). A difference set obtained by subtracting the disturbing area image D is calculated as a shootable area image E, and the calculated shootable area image E is output to the area calculating means 19.

For example, as shown in FIG. 6, as the disturbing area image C _i and the goal image G, when the disturbing area images C ₁ and C ₂ and the goal image G are arranged, the shootable area image E is shown in FIG. As shown.

The area calculation means 19 quantifies the size of the shootable area image E input from the difference set calculation means 18 and outputs it as an evaluation value h.
For example, the area calculating means 19 can use the area of the shootable region image E as the evaluation value h as shown in the equation (9).

The evaluation value h is the apparent size of the goal opening area K that is not obstructed by the defending team players set by the defending player placement information (a _n ) _{n = 1, 2} ,. The higher the evaluation value h, the higher the possibility of scoring from the target position f.

  The evaluation value h may be, for example, the number of pixels constituting the shootable region image E on the image plane Z, or the area ratio when a certain area (number of pixels) is used as a reference (for example, 100%) is calculated. Then, an evaluation value h representing the possibility of scoring may be output.

  The configuration of the scoring possibility quantification apparatus 1 has been described above, but the present invention is not limited to this. For example, the scoring possibility quantification apparatus 1 can be realized by causing a general computer to execute a program and operating an arithmetic device or a storage device in the computer. This program (scorability quantification program) can be distributed via a communication line, or can be distributed by writing on a recording medium such as a CD-ROM.

  Next, the operation of the scoring possibility quantifying apparatus 1 in the embodiment of the present invention will be described with reference to FIG. 8 (refer to FIGS. 1 to 3 as appropriate). Here, FIG. 8 is a flowchart showing the flow of processing by the scoring possibility quantification apparatus in the embodiment of the present invention.

In the following description, the player placement information storage means 10 includes defense player placement information (a _n ) _{n = 1, 2,..., N} detected by the known player position detection device (not shown). It shall be remembered. In addition, the scoring possibility quantification device 1 accepts in advance an input of the number N of defending players detected by a known player position detection device (not shown) from the outside. It is assumed that it has been input to the union calculation means 17. Further, the scoring possibility quantification device 1 is assumed to sequentially receive the input of the attention position f from the outside, and the attention position f is sequentially input to the disturbing area image calculation means 14 and the goal image calculation means 15. To do.

  As shown in FIG. 8, the scoring possibility quantification apparatus 1 first receives an input of an attention position f input from the outside (step S11), and the goal image calculation means 15 sets the attention position f as a viewpoint. The goal image G, which is the projected image on the image plane Z, is calculated and output to the difference set calculation means 18 (step S12). Since the goal image calculated by the goal image calculation means 15 is used for calculation of the difference set by the difference set calculation means 18 in step S20 described later, step S12 may be performed before the start of step S20. Therefore, step S12 may be executed after steps S13 to S19, or may be executed in parallel with these steps.

  Next, the scoring possibility quantification apparatus 1 initializes the counter value i by the counter 11, that is, sets the counter value i to 1, and sets the set counter value i (1) to the player selection means 12 and the sum. It outputs to the set calculation means 17 (step S13).

Subsequently, the scoring possibility quantification apparatus 1 uses the player selection means 12 to obtain the placement information a ₁ of the _first defending player indicated by the counter value i (= 1) input from the counter 11 in step S13. selects and reads from the player layout information storage unit 10, and outputs the read location information a ₁ to disturbance area setting unit 13 (step S14).

The scoring possibility quantification apparatus 1 determines the disturbing area B ₁ by the defending player based on the placement information a ₁ of the _first defending player input from the player selecting means 12 in step S14 by the disturbing area setting means 13. It is set and output to the disturbing area image calculation means 14 (step S15).

Scoring potential quantification apparatus 1, the interference region image calculation unit 14, the image plane Z having viewpoints attention position f input at step S11, the interference area B ₁ input from interference area setting means 13 in step S15 the area shape of the projected image when projected, calculated as an interference area image C _1, and outputs the union calculating means 17 (step S16).

Scoring potential quantification apparatus 1, the union calculating means 17, an interference area image C ₁ input from interference area setting means 13 in step S16, tentatively to total interference area image D (step S17). This interference area image C _1, because it is first inputted interference area image C _i, because there is no target for calculating a union.
As an initial value of the total disturbing area image D, for example, an empty set is set simultaneously with the initialization of the counter value i in step S13, and the entire disturbing area image D in which the empty set is set is input. It calculates the union of the interfering area image C ₁ may be calculated a new total interference area image D.

Next, the scoring possibility quantification apparatus 1 checks whether or not the counter value i input from the counter 11 matches the number N of defending players by the union calculation means 17 (step S18). If (No at step S18), and that is, the interference area image C _i to be calculated the union is determined to be still, the score likely quantification apparatus 1, the counter 11 counts up the counter value i (I is increased by 1) (step S19), and the processing from step S14 to step S18 is repeated.
As a result, the scoring possibility quantification apparatus 1 uses the union calculation unit 17 to create a new total disturbing area image that is the union of the total disturbing area image D (= disturbing area image C ₁ ) and the disturbing area image C _2. D is calculated as a provisional total disturbance area image D. Then, the scoring possibility quantification apparatus 1 uses the union calculation means 17 until the counter value i input from the counter 11 matches the number N of defending players (Yes in step S18), that is, the disturbance area image C. Until the union containing _N is calculated, the scoring possibility quantification apparatus 1 repeats the processing from step S14 to step S18 while counting up the counter value i by the counter 11 (step S19).

The scoring possibility quantification apparatus 1 determines that the counter value i input from the counter 11 matches the number N of defending players by the union calculation means 17 (Yes in step S18), from the first to the Nth step outputs interference area image C ₁ calculates the true total interference area image D is a union of -C _N, the true total interference area image D calculated for the set difference calculating means 18 by the defending player to Proceed to S20.

  Next, the scoring possibility quantification apparatus 1 uses the difference set calculation means 18 when the counter value i matches N from the goal image G calculated by the goal image calculation means 15 in step S12 (Yes in step S18). The shootable area image E which is a difference set obtained by subtracting the true total disturbing area image D calculated by the union calculating means 17 is calculated, and the calculated shootable area image E is output to the area calculating means 19 (step S20). ).

Then, the scoring possibility quantification apparatus 1 calculates the area of the shootable region image E calculated in step S20 by the area calculation means 19 and outputs it as an evaluation value h of scoring possibility when shooting from the target position f. (Step S21).
The evaluation value h may be, for example, the number of pixels constituting the shootable region image E on the image plane Z, or the area ratio when a certain area (number of pixels) is used as a reference (for example, 100%) is calculated. Then, an evaluation value h representing the possibility of scoring may be output.

  According to the scoring possibility quantifying apparatus 1 described above, the scoring possibility from the designated position (attention position f) can be obtained as the evaluation value h. Analysis can be performed. For example, in a soccer competition, when an attacking team shoots from a certain position, paying attention to this play, it is possible to analyze tactics such as whether or not the tactic of shooting from that position was correct. Specifically, when the position is set as the target position f, an evaluation value h of 10% is obtained, and when several positions around the position are set as the target position f, the score is obtained. If there is a position where an evaluation value of 80% is obtained, it is better not to shoot from that position but to make a pass to a position where the possibility of scoring is high. It can be performed. In this way, various tactics can be analyzed using the evaluation value h.

Next, with reference to FIG. 2 and FIG. 3, the modification 1 of embodiment of this invention mentioned above is demonstrated.
[Modification 1 of Embodiment]
In the above-described embodiment, the scoring possibility quantifying apparatus 1 according to the first modification of the embodiment includes, for example, the speed of the player in the world coordinate system in addition to the position x _i of the i-th player as the arrangement information a _i. (vector) v _i and the identification information of the player (player name), including the attribute information of the individual i-th player, such as the speed of the leg, used to set the interference area B _i by interference area setting section 13 It is.

Next, the configuration of the scoring possibility quantification apparatus 1 according to the first modification of the embodiment will be described.
Scored possibility quantification apparatus 1 according to a modification 1 of the embodiment, as the arrangement information a _i, as shown in Equation (10), in addition to the position x _i of the i-th player, the players in the world coordinate system include the velocity (vector) _{v i.}

Furthermore, for example, as the arrangement information a _i, in addition to the position x _i of the i-th player, identification information (player name) of the players and the speed of the leg is exercise capacity, i.e. such as the maximum speed beta _i Individual attribute information of the i-th player may be included.

Here, the attribute information such as the maximum speed β _i that is the height and athletic ability of the player other than the position x _i and the speed v _i of the player is associated with each player in advance as part of the arrangement information a _i. It is assumed that it is stored in the player arrangement information storage means 10.

In the first modification of the embodiment, in the disturbing area setting unit 13, for example, the center position c _{i where the} disturbing area B _i is arranged is the position x _i and the velocity (vector) v _i included in the arrangement information a _i. Based on the decision. For example, it can be defined as in Expression (11) using a predetermined positive real coefficient τ.

As the value of the coefficient τ, for example, an appropriate value of about 0.5 to 10 seconds (for example, τ = 3 seconds) is used.
In addition, a sphere with a variable radius r _i may be used as the three-dimensional shape of the interference area B _i . In this case, for example, the center position c _i can be determined by the above-described formula (10) or formula (11).
That is, to set the center position c _i of the interference area B _i estimate the position of the i-th player after specified time tau. Thereby, the disturbance area B _i can be set at a more appropriate position according to the movement of the player.

On the other hand, the radius r _i representing the range (size) of the disturbing area B _i can be set according to the distance d _i between the target position f and the position x _i shown in Expression (12), for example. . In this case, in the scoring possibility quantification apparatus 1 shown in FIG.

The longer this distance d _i is, the larger the time margin until the ball reaches the vicinity of the defending i-th player, during which the distance that the player can move, that is, the range of the area that can be blocked is larger. Therefore, the radius r _i is preferably monotonically increasing in a broad sense with respect to the distance d _i . For example, the radius r _i can be set as shown in Equation (13) using a predetermined positive real coefficient k.
As a result, the disturbance area B _i that is a range that can be blocked by the i-th player can be set more appropriately according to the position of the player with respect to the position of interest f.

  Here, for example, as shown in the equation (14), the coefficient k can be a value obtained by dividing the assumed maximum speed β of the defending player by the assumed maximum speed b of the ball.

At this time, for example, if the assumed maximum speed β of the defending player is 20 [km / h] and the assumed maximum speed b of the ball is 50 [km / h], the coefficient k = 20/50 = 0.40.
Furthermore, when the placement information a _i includes the maximum speed β _{i of the} player as information on the individual athletic ability of the i-th player on the defending side, the coefficient k is replaced with the coefficient k as shown in Equation (15). it may be determined the coefficient k _i for each player Te.
Thereby, according to attributes, such as athletic ability of each player, the area of the area which can be obstructed by the player can be set more precisely.

As described above, the case where a sphere is used as the three-dimensional shape of the disturbing area B _i is exemplified, but the same applies to the case where a solid other than the sphere is used.
For example, when a cube is used as the three-dimensional shape of the disturbing area B _i , the center position c _i of the sphere described above is read as the center of gravity of the rectangular parallelepiped, and the radius r of the sphere described above is calculated as one side of the cube. It should be read as half the length.
Further, for example, when a rectangular parallelepiped or an ellipsoid is used as the three-dimensional shape of the disturbing area B _i , the coefficient k in the equation (13) may be changed according to each side (or each axis), or a certain side ( Alternatively, a certain axis) may be a fixed length.

As described above, the scoring possibility quantifying apparatus 1 according to the first modification of the embodiment adds the disturbance area B _i to the player position x _i and also according to the player's speed v _i and the player's attributes. to set, it can be made the center position c _i and the size of its three-dimensional region of the interference region B _i more appropriate. Thus, the scoring possibility quantification apparatus 1 can calculate the evaluation value h of the scoring scoring possibility with higher accuracy.

The operation of the scoring possibility quantifying apparatus 1 in the first modification of the embodiment is different from the operation of the scoring possibility quantifying apparatus 1 in the above-described embodiment shown in FIG. and placement information a _i to be referred to when setting the B _i, since arithmetic expression set value associated therewith is the same except that different, description thereof is omitted.

[Modification 2 of the embodiment]
Next, with reference to FIG.9 and FIG.2, the modification 2 of embodiment mentioned above is demonstrated. Here, FIG. 9 is a schematic diagram for explaining a state of an image projected onto the image plane (plane) of the area on the soccer field. 9 is a plan view of the soccer stadium F (see FIG. 1) as viewed from above, that is, from the z-axis direction, as in FIG.

As shown in FIG. 9, the scoring possibility quantifying apparatus 1 of Modification 2 of the embodiment uses the target position f as the first optical principal point in the disturbing area image calculating means 14 and the goal image calculating means 15, An axis AX is set in a semi-linear direction from the target position f to the representative point (vector) g of the goal GO, and a plane with the optical axis AX as a normal is assumed as an image plane Z, and the disturbance area B _i and the goal opening area K are an image of the area shape when projected onto the image plane Z, in which respectively an interference area image C _i and the goal image G.
The projected image with the plane as the image plane Z corresponds to an image obtained by photographing an object with a normal camera.

  At this time, the projection function φ (p; f) takes a perpendicular line with the target position f as the first optical principal point and the optical axis AX down from the target position f to a vertical straight line passing through the representative point g of the goal GO. Assuming a plane having the optical axis AX as a normal line as the image plane Z, the following formula is formulated. The image plane takes the X axis horizontally right, the Y axis vertically downward, and the intersection of the optical axis AX and the image plane Z is the origin. At this time, a projection function φ (p) that converts the point at the position p in the world coordinate system into a position q in the image coordinates of the projected image (the first component of the image coordinates is the X coordinate and the second component is the Y coordinate). F) can be expressed as in equation (16).

Here, s is a positive real number representing the focal length (the distance between the first optical principal point and the image plane Z).
The representative point g of the goal GO can be, for example, the center (center of gravity) of the goal opening area K of the goal GO.
Note that λ (f) indicates a rotation angle around the z axis of the line of sight when the representative point g of the goal opening area K is viewed from the position of interest f as a viewpoint, and corresponds to the pan angle of the camera. R (f) is a rotation matrix that rotates the position p of each point about the z axis by the rotation angle λ (f).

  As a result, the scoring possibility quantification apparatus 1 according to the second modification of the embodiment images a target object such as a player or the goal opening area K with a normal camera by using the disturbing area image calculating unit 14 and the goal image calculating unit 15. Projection equivalent to. This projection is an operation that is frequently used in computer graphics. By using an existing DSP (Digital Signal Processor) that performs this operation at high speed, or a processor or system called a graphics engine, high-speed arithmetic processing can be performed at low cost. Can be realized.

The operation of the scoring possibility quantifying apparatus 1 in the second modification of the embodiment is different from the operation of the scoring possibility quantifying apparatus 1 in the above-described embodiment shown in FIG. in the image calculation unit 15, the arithmetic expression for calculating the interference area image C _i and the goal image G is repeated, except that different, description thereof is omitted.

[Modification 3 of the embodiment]
Next, with reference to FIG.2 and FIG.3, the modification 3 of embodiment of this invention mentioned above is demonstrated.
The scoring possibility quantifying apparatus 1 in the third modification of the embodiment shoots each point of the shootable region image E when the area calculation means 19 in the above-described embodiment calculates the area of the shootable region image E. The area is calculated by weighting in consideration of the ease of hitting and is set as the evaluation value h.

  The scoring possibility quantification apparatus 1 in the third modification of the embodiment uses the area calculation means 19 to set the evaluation value h as a weighted integral inside the shootable region image E as shown in the equation (17).

Here, w (p) is a weighting function for the position p in the image plane Z, and returns a real scalar value.
For example, the weight function w (p) has a larger positive value as the position p is closer to the center of the image plane Z (the origin (0, 0) of the image coordinates), that is, the point corresponding to the representative point g of the goal opening area K. Can be taken. This is because, for players, for example, the shot toward the representative point g is the most accurate and the chance of success is high, and the point far from the representative point g is difficult to hit accurately and the possibility of success is low. Is reflected.
In this case, for example, a Gaussian function as shown in Expression (18) can be used as the weighting function w (p).

  Here, Σ is a 2 × 2 covariance matrix. For example, a diagonal matrix as shown in Equation (19) can be used as the covariance matrix.

Here, σ _X and σ _Y are standard deviations in the horizontal and vertical directions of the image plane Z, and give positive real numbers, respectively.
When the image plane Z is represented by spherical coordinates (α, δ), σ _α is used instead of σ _X to reflect the ease of shooting with respect to the azimuth, and σ _δ is used instead of σ _Y. Therefore, the design can be made to reflect the ease of shooting with respect to the elevation angle. For example, σ _α and σ _δ are set to angles at which the shot easiness of hitting becomes e ^−0.5 ≈0.61 times the front.

  As a result, the scoring possibility quantifying apparatus 1 according to the third modification of the embodiment highly evaluates the contribution of the region image that is easy to accurately shoot in the shootable region image E. An evaluation value h can be calculated.

  The operation of the scoring possibility quantifying apparatus 1 in the third modification of the embodiment is different from the operation of the scoring possibility quantifying apparatus 1 in the above-described embodiment shown in FIG. Since the calculation formula for calculating h is the same except that it is different, the description is omitted.

  Although the embodiment of the present invention and the modifications 1 to 3 have been described above, the configurations of the modifications 1 to 3 may be combined with each other.

It is a schematic diagram for demonstrating the attention position which carries out the defense side player arrangement | positioning information which is the arrangement information of the player of the defense side team input into the scoring possibility quantification apparatus concerning embodiment of this invention, and a shot. It is a block diagram which shows the structure of the score possibility quantification apparatus in embodiment of this invention. It is a schematic diagram for demonstrating the mode of the projection image to the image surface (spherical surface) of the area | region on a soccer field. It is the schematic diagram which showed the shape of the opening area | region of the goal in a soccer game. It is the schematic diagram which showed the example of a goal image and a disturbance area image. It is the schematic diagram which showed the example of all the disturbance area | region images. It is the schematic diagram which showed the example of the shootable area | region image. It is a flowchart which shows the flow of a process by the score possibility quantification apparatus in embodiment of this invention. It is a schematic diagram for demonstrating the mode of the projection image to the image surface (plane) of the area | region on a soccer field.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 Scorability quantification apparatus 10 Player arrangement information storage means 11 Counter 12 Player selection means 13 Interference area setting means 14 Interference area image calculation means 15 Goal image calculation means 16 Evaluation value calculation means 17 Sum set calculation means 18 Difference set calculation means 19 Area calculation means AX Optical axes a ₁ , a ₂ , a _i arrangement information B ₁ , B ₂ , B _i interference area (stereoscopic area)
_{C 1,} C 2, C _i disturbance area image CA coach area CB crossbar CC center circle CS center spot D total interference area image (union)
E Shootable region image (difference set)
F Soccer field (competition area)
f Attention position G Goal image GL Goal line GO, GO _A , GO _B Goal GP1, GP2 Goal post g Representative point HL Halfway line h Evaluation value K Goal opening area TL Touch line Z Image plane

Claims (7)

In team sports where two or more players are divided into two teams and compete for the score by putting the ball into the opponent's goal, the score can be obtained from the attention position specified on the competition area by the operation signal input from the outside A scoring possibility quantification device for quantifying the performance,
Goal image calculation means for calculating a goal image that is a projection image of a predetermined defense-side goal opening area with the target position as a viewpoint onto a predetermined image plane;
Based on the position where the player of the defending team in the real space coordinate system is arranged, obstruction area setting means for setting a three-dimensional area in which the defending player can obstruct the shot in real space,
A disturbing area image calculating means for calculating a disturbing area image that is a projection image of the three-dimensional area set by the disturbing area setting means with the target position as a viewpoint onto the predetermined image plane;
Union calculation means for calculating a total disturbance area image that is a union of the disturbance area images of each player calculated by the disturbance area image calculation means;
A difference set calculation means for calculating a shootable area image that is a difference set obtained by subtracting all the disturbing area images calculated by the union calculation means from the goal image calculated by the goal image calculation means;
An area calculation unit that calculates an area of the shootable region image calculated by the difference set calculation unit, and calculates an evaluation value of the possibility of the score according to the calculated area. Possibility quantification device.   2. The scoring possibility quantification device according to claim 1, wherein the predetermined image plane is a spherical surface centered on the target position in the goal image calculation unit and the obstruction area image calculation unit.   The said goal image calculation means and said obstruction area image calculation means, wherein the predetermined image plane is a plane whose normal is a half line from the target position toward the center of the goal opening area. The scoring possibility quantification apparatus according to 1.   The said obstruction area | region setting means sets the arrangement position of the solid area by the said defense player according to the moving speed of the said defense player, The Claim 1 thru | or 3 characterized by the above-mentioned. Scorability quantification device.   The disturbing area setting means estimates a time until the ball reaches the defending player from the noted position based on a distance between the position of the defending player and the noted position, and the estimated time and the The scoring possibility quantification according to any one of claims 1 to 4, wherein a range of a three-dimensional area by the defending player is set based on a product of the movement speed of the defending player. apparatus.   The area calculating means reduces the weight of the area of the shootable area image calculated by the difference set calculating means as the points constituting the shootable area image move away from a specific point on the predetermined image plane. The scoring possibility quantifying apparatus according to any one of claims 1 to 5, wherein the scoring possibility quantifying apparatus is calculated by adding a weight. In team sports where two or more players are divided into two teams and compete for the score by putting the ball into the opponent's goal, the score can be obtained from the attention position specified on the competition area by the operation signal input from the outside To quantify gender,
Goal image calculation means for calculating a goal image that is a projection image of a predetermined defense-side goal opening area with the target position as a viewpoint onto a predetermined image plane;
Based on the position where the player of the defending team in the real space coordinate system is arranged, the obstructing area setting means for setting a solid area in which the defending player can obstruct the shot in the real space,
A disturbing area image calculating means for calculating a disturbing area image that is a projection image of the three-dimensional area set by the disturbing area setting means with the target position as a viewpoint onto the predetermined image plane;
A union calculating means for calculating a total disturbing area image which is a union of the disturbing area images of each player calculated by the disturbing area image calculating means;
A difference set calculation means for calculating a shootable area image that is a difference set obtained by subtracting all the disturbing area images calculated by the union calculation means from the goal image calculated by the goal image calculation means;
The score is calculated by calculating the area of the shootable region image calculated by the difference set calculating means, and functioning as an area calculating means for calculating an evaluation value of the possibility of scoring according to the calculated area. Possibility quantification program.

Images