Calibration of extrinsic camera parameters by identifying lines in a monocular view of a soccer field
(2024) In LUTFMA-3541-2024 FMAM05 20241Mathematics (Faculty of Engineering)
- Abstract
- Soccer is witnessing technological advancements in a variety of areas, of which
many are dependent on camera calibration. This thesis addresses the challenge of
calibrating the extrinsic parameters of cameras used in soccer broadcasts using a
monocular view of the field. Accurate camera calibration is essential for various
applications such as player positioning, field modelling, and improving the overall broadcast quality. This research focuses on evaluating techniques for detecting
lines on the soccer field and using these lines to estimate the camera’s position and orientation, and the field’s aspect ratio. The study explores multiple line detection methods, including traditional line detection techniques like Hough Transformation... (More) - Soccer is witnessing technological advancements in a variety of areas, of which
many are dependent on camera calibration. This thesis addresses the challenge of
calibrating the extrinsic parameters of cameras used in soccer broadcasts using a
monocular view of the field. Accurate camera calibration is essential for various
applications such as player positioning, field modelling, and improving the overall broadcast quality. This research focuses on evaluating techniques for detecting
lines on the soccer field and using these lines to estimate the camera’s position and orientation, and the field’s aspect ratio. The study explores multiple line detection methods, including traditional line detection techniques like Hough Transformation (HT) and Line Segment Detector (LSD), as well as advanced approaches like Holistically Attracted Wireframe Parsing (HAWP) and Semantic Line Detection (SLNet). Each method’s performance is evaluated based on accuracy, robustness, and computational efficiency. The proposed pipeline leverages detected field lines to calibrate the camera by estimating a plane-induced homography, mapping image points to world coordinates. The calibration process is validated through reprojection error analysis, ensuring the detected lines and their intersections provide reliable input for camera pose estimation, and that the assumptions of a planar rectangular field are valid. Results indicate that HAWP outperforms the other tested methods in detecting soccer field lines, but since it leverages detected junctions to find lines it becomes very sensitive to occlusions. While other tested methods show some potential, they require further refinement for consistent performance. Furthermore, the camera calibration algorithm based on the homography shows promising results, suggesting that the field geometry assumptions are valid. Finally, a proposition of further development is presented, providing a foundation for future research within the field. (Less)
Please use this url to cite or link to this publication:
http://lup.lub.lu.se/student-papers/record/9169307
- author
- Broddegård, Oscar LU and Ringström, Caesar
- supervisor
-
- Viktor Larsson LU
- Jonathan Astermark LU
- Håkan Ardö LU
- organization
- course
- FMAM05 20241
- year
- 2024
- type
- H2 - Master's Degree (Two Years)
- subject
- keywords
- camera calibration, line detection, homography, monocular view
- publication/series
- LUTFMA-3541-2024
- report number
- LUTFMA-3541-2024
- ISSN
- 1404-6342
- other publication id
- 2024:E33
- language
- English
- additional info
- Supervisor (outside LU): Haochen Liu (Spiideo AB)
- id
- 9169307
- date added to LUP
- 2025-09-15 11:16:20
- date last changed
- 2025-09-15 11:16:20
@misc{9169307,
abstract = {{Soccer is witnessing technological advancements in a variety of areas, of which
many are dependent on camera calibration. This thesis addresses the challenge of
calibrating the extrinsic parameters of cameras used in soccer broadcasts using a
monocular view of the field. Accurate camera calibration is essential for various
applications such as player positioning, field modelling, and improving the overall broadcast quality. This research focuses on evaluating techniques for detecting
lines on the soccer field and using these lines to estimate the camera’s position and orientation, and the field’s aspect ratio. The study explores multiple line detection methods, including traditional line detection techniques like Hough Transformation (HT) and Line Segment Detector (LSD), as well as advanced approaches like Holistically Attracted Wireframe Parsing (HAWP) and Semantic Line Detection (SLNet). Each method’s performance is evaluated based on accuracy, robustness, and computational efficiency. The proposed pipeline leverages detected field lines to calibrate the camera by estimating a plane-induced homography, mapping image points to world coordinates. The calibration process is validated through reprojection error analysis, ensuring the detected lines and their intersections provide reliable input for camera pose estimation, and that the assumptions of a planar rectangular field are valid. Results indicate that HAWP outperforms the other tested methods in detecting soccer field lines, but since it leverages detected junctions to find lines it becomes very sensitive to occlusions. While other tested methods show some potential, they require further refinement for consistent performance. Furthermore, the camera calibration algorithm based on the homography shows promising results, suggesting that the field geometry assumptions are valid. Finally, a proposition of further development is presented, providing a foundation for future research within the field.}},
author = {{Broddegård, Oscar and Ringström, Caesar}},
issn = {{1404-6342}},
language = {{eng}},
note = {{Student Paper}},
series = {{LUTFMA-3541-2024}},
title = {{Calibration of extrinsic camera parameters by identifying lines in a monocular view of a soccer field}},
year = {{2024}},
}