A complete flying trajectory can be divided into following four stages: ping-pong ball trajectory tracking, ping pong ball trajectory prediction before rebound, rebound on the table and ping-pong ball trajectory prediction after rebound.3D position of the ball can be detected in the trajectory tracking stage. 乒乓球完整的飞行轨迹可分为轨迹跟踪、反弹前的轨迹预测、与球桌的碰撞以及反弹后的乒乓球的轨迹预测四个阶段。