Video tracking of baseball players to determine the start and end of a half-inning
View Patent ↗Video frames of a baseball game are analyzed to determine a track for the participants in the game, e.g., players, coaches and umpires, and to update a digital record of the game. The start and/or end of a half-inning can be indicated by factors such as: the participants leaving the dugout region and entering the playing field, including the outfield, a participant leaving the dugout region and entering the region of a base coach's box, a pitcher throwing pitches when no batter is present, and players on the playing field throwing the ball back and forth to one another. In one approach, the combination of detecting an event which is known to occur most often or always between half-innings followed by detecting another event which is known to occur most often or always during a half-inning, can be used to signal that a half-inning has started.
1. A method for tracking participants in a baseball game at a baseball park, the baseball park includes a playing field, comprising the processor-implemented steps of:
analyzing video frames obtained from one or more cameras, the video frames provide images of participants in the baseball park;
based on the analyzing, determining that a start of a half-inning of the baseball game is about to occur, the determining comprises:
for each of multiple participants, determining a track which indicates successive locations of the participant in the baseball park at successive points in time;
based on the tracks, detecting an integer number N>2 of the participants moving from a dugout region of the baseball park to respective fielding locations in the playing field and detecting an amount of time the participants remain at the fielding locations;
associating a first probability with the detecting of the participants moving from the dugout region to the respective fielding locations, where the first probability is higher when the integer number N is greater;
associating a second probability with the detecting the amount of time that the participants remain at the fielding locations, where the second probability is proportional to the amount of time;
combining the first and second probabilities to provide a combined probability; and
comparing the combined probability to a threshold; and
in response to the determining that the start of the half-inning is about to occur, updating a digital record of the baseball game to identify the start of the half-inning.
2. The method of claim 1 , wherein:
the detecting the participants moving from the dugout region to the respective fielding locations comprises detecting that the participants have moved from the dugout region to the respective fielding locations within a specified time interval.
3. The method of claim 2 , wherein:
the detecting the participants moving from the dugout region to the respective fielding locations comprises detecting that the participants have reached at least a specified minimum speed when moving from the dugout region to the respective fielding locations.
4. The method of claim 1 , wherein:
the respective fielding locations comprise an outfield; and
the detecting the participants moving from the dugout region to the respective fielding locations comprises detecting that one or more of the participants has moved from the dugout region to the outfield within a specified time interval.
5. The method of claim 1 , further comprising:
the determining that the start of the half-inning is about to occur comprises determining a bodily movement of one of the participants based on the video frames, and determining that the bodily movement corresponds to a pitching motion, while no batter is detected in a batter's box region of the playing field, indicating the one of the participants is taking a warm up pitch.
6. The method of claim 1 , further comprising:
based on the analyzing, determining that the start of the half-inning has occurred by detecting a first thrown pitch from a pitcher's mound to a home plate when a batter is in a batter's box of the baseball park, wherein the updating of the digital record to identify the half-inning is based on the determining that the start of the half-inning has occurred.
7. The method of claim 6 , wherein the detecting the first thrown pitch comprises:
determining a bodily movement of one of the participants based on the video frames; and
determining that the bodily movement corresponds to a pitching motion.
8. The method of claim 6 , wherein the detecting the first thrown pitch comprises:
tracking a ball as it moves from the pitcher's mound to the home plate.
9. The method of claim 1 , wherein:
the playing field includes an infield square and a region outside the infield square: and
the determining that the start of the half-inning is about to occur comprises determining trajectories of a ball in the baseball park based on the video frames, and determining that the trajectories extend above the playing field, in the region outside the infield square, from one participant to another participant, and back from the another participant to the one participant, indicating the participants are fielders warming up by playing catch.
10. The method of claim 1 , wherein
the determining the start of the half-inning is about to occur comprises detecting one of the participants moving to a coach's box region of the baseball park from a dugout region of the baseball park.
11. The method of claim 1 , wherein:
the successive locations of the participants in the baseball park are determined by identifying pixels in the video frames which correspond to human figures, and determining a location in the baseball park based on locations of the identified pixels in the video frames, and sensor and registration data of the one or more cameras.
12. The method of claim 1 , wherein:
the threshold is established by processing video data from multiple baseball games.
13. Tangible, non-transitory computer readable storage having computer readable software embodied thereon for programming at least one processor to perform a method for tracking participants in a baseball game at a baseball park, the baseball park includes a playing field, the method performed comprises:
accessing video frames from one or more cameras, the video frames provide images of participants in the baseball park;
based on the video frames, determining a probability that a start of a half-inning of the baseball game is about to occur, the determining comprises:
detecting tracks which indicate successive locations of an integer number N>2 of the participants in the baseball park at successive points in time;
based on the tracks, determining that the participants have moved from a dugout region of the baseball park to respective fielding locations in the playing field; and
associating a first probability with the detecting of the participants moving from the dugout region to the respective fielding locations, where the first probability is higher when the integer number N is greater; and
comparing the probability that the start of the half-inning of the baseball game is about to occur to a threshold; and
in response to the comparing, updating a digital record of the baseball game to identify the start of the half-inning.
14. The tangible, non-transitory computer readable storage of claim 13 , wherein
the updating the digital record to identify the start of the half-inning is further based on detecting one or more events which are known to occur during the half-inning.
15. The tangible, non-transitory computer readable storage of claim 13 , wherein:
in addition to the updating the digital record of the baseball game to identify the start of the half-inning, the digital record is updated to indicate a time and description of a determination that the start of a half-inning of the baseball game is about to occur.
16. The tangible, non-transitory computer readable storage of claim 13 , wherein the determining the probability that the start of the half-inning of the baseball game is about to occur further comprises: based on the tracks, determining an amount of time the participants remain at the fielding locations; associating a second probability with the detecting the amount of time that the participants remain at the fielding locations, where the second probability is proportional to the amount of time; combining the first and second probabilities to provide a combined probability; and comparing the combined probability to the threshold.
17. An apparatus for tracking participants in a baseball game at a baseball park, the baseball park includes a playing field, the apparatus comprising:
one or more cameras which provide video frames, the video frames provide images of participants in the baseball park; and
at least one processor, the at least one processor determines a probability that a start of a half-inning of the baseball game is about to occur, the determining comprises processing the video frames to determine successive locations of participants in the baseball park at successive points in time, based on the tracks, determine that the participants have moved from a dugout region of the baseball park to respective fielding locations in the playing field and detect an amount of time the participants remain at the fielding locations, associate a first probability with the detecting of the participants moving from the dugout region to the respective fielding locations, where the first probability is proportional to the amount of time, and compare the probability that the start of the half-inning of the baseball game is about to occur to a threshold, and in response to the comparing, updates a digital record of the baseball game to identify the start of the half-inning.
18. The apparatus of claim 17 , wherein:
the at least one processor detects one or more events which are known to occur during a the half-inning of the baseball game, and updates the digital record to identify the half-inning of the baseball game in response to the detecting the one or more events which are known to occur during the half-inning of the baseball game.
19. The apparatus of claim 17 , wherein:
the at least one processor updates the digital record to indicate a time that the start of the half-inning of the baseball game is about to occur.
20. The method of claim 1 , further comprising:
in addition to the updating the digital record of the baseball game to identify the start of the half-inning, updating the digital record to indicate a time and description of the determining that the start of the half-inning is about to occur.
21. A method for tracking participants in a baseball game at a baseball park, the baseball park includes a playing field, comprising the processor-implemented steps of: analyzing video frames obtained from one or more cameras, the video frames provide images of participants in the baseball park; based on the analyzing, for each of multiple participants, determining a track which indicates successive locations of the participant in the baseball park at successive points in time; based on the tracks, detecting an inter-half-inning event, the inter-half-inning event which indicates that a start of a half-inning of the baseball game is about to occur;
detecting an intra-half-inning event, the intra-half-inning event indicates that the start of the half-inning has occurred; determining that the intra-half-inning event follows the inter-half-inning event within a specified time interval; and in response to the determining, updating a digital record of the baseball game to indicate that the start of the half-inning has occurred, wherein the detecting the inter-half-inning event comprises: detecting an integer number N>2 of the participants moving from a dugout region of the baseball park to respective fielding locations in the playing field; detecting an amount of time the participants remain at the fielding locations; associating a first probability with the detecting of the participants moving from the dugout region to the respective fielding locations, where the first probability is higher when the integer number N is greater; associating a second probability with the detecting the amount of time that the participants remain at the fielding locations, where the second probability is proportional to the amount of time; combining the first and second probabilities to provide a combined probability; and comparing the combined probability to a threshold.
22. The method of claim 21 , wherein: the detecting the inter-half inning event comprises detecting one of the participants taking a warm up pitch.
23. The method of claim 21 , wherein: the detecting the inter-half inning event comprises determining the participants comprise fielders warming up by playing catch.
24. The method of claim 21 , wherein: the detecting the intra-half inning event comprises detecting a first thrown pitch from a pitcher's mound to a home plate when a batter is in a batter's box of the baseball park.