Journal
IEEE TRANSACTIONS ON CIRCUITS AND SYSTEMS FOR VIDEO TECHNOLOGY
Volume 18, Issue 3, Pages 350-362Publisher
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
DOI: 10.1109/TCSVT.2008.918276
Keywords
geometric modeling; motion analysis; multiple cameras; 3-D vision; tracking; video signal processing
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In this paper, model-based approaches for real-time 3-D soccer ball tracking are proposed, using image sequences from multiple fixed cameras as input. The main challenges include filtering false alarms, tracking through missing observations, and estimating 3-D positions from single or multiple cameras. The key innovations are: 1) incorporating motion cues and temporal hysteresis thresholding in ball detection; 2) modeling each ball trajectory as curve segments in successive virtual vertical planes so that the 3-D position of the ball can be determined from a single camera view; and 4) introducing four motion phases (rolling, flying, in possession, and out of play) and employing phase-specific models to estimate ball trajectories which enables high-level semantics applied in low-level tracking. In addition, unreliable or missing ball observations are recovered using spatio-temporal constraints and temporal filtering. The system accuracy and robustness are evaluated by comparing the estimated ball positions and phases with manual ground-truth data of real soccer sequences.
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