An online single-camera filter with discrete game-state modes tracks a soccer ball in 3D in real time, matching or beating an offline multi-camera optimizer on Russian Premier League footage.
IEEE transactions on pattern analysis and machine intelligence 31(5), 938--944 (2008)
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Real-time Localization of a Soccer Ball from a Single Camera
An online single-camera filter with discrete game-state modes tracks a soccer ball in 3D in real time, matching or beating an offline multi-camera optimizer on Russian Premier League footage.