# Real-Time Camera Pose Estimation for Sports Fields

arXiv: https://arxiv.org/abs/2003.14109 · HTML: https://mlsanity.com/paper/2003.14109/

## Key facts

- Cited by 17 papers in the map (data through 14 Oct 2026).
- First posted on arXiv 31 Mar 2020.

## Built on by (most cited first, 17 of 17)

- [Camera Calibration and Player Localization in SoccerNet-v2 and Investigation of their Representations for Action Spotting](https://mlsanity.com/paper/2104.09333/) (2021)
- [Dynamic Multi-Person Mesh Recovery From Uncalibrated Multi-View Cameras](https://mlsanity.com/paper/2110.10355/) (2021)
- [TVCalib: Camera Calibration for Sports Field Registration in Soccer](https://mlsanity.com/paper/2207.11709/) (2022)
- [PnLCalib: Sports Field Registration via Points and Lines Optimization](https://mlsanity.com/paper/2404.08401/) (2024)
- [A Universal Protocol to Benchmark Camera Calibration for Sports](https://mlsanity.com/paper/2404.09807/) (2024)
- [WorldPose: A World Cup Dataset for Global 3D Human Pose Estimation](https://mlsanity.com/paper/2501.02771/) (2025)
- [Video-based Sequential Bayesian Homography Estimation for Soccer Field Registration](https://mlsanity.com/paper/2311.10361/) (2023)
- [Enhancing Soccer Camera Calibration Through Keypoint Exploitation](https://mlsanity.com/paper/2410.07401/) (2024)
- [Extraction of Positional Player Data from Broadcast Soccer Videos](https://mlsanity.com/paper/2110.11107/) (2021)
- [BroadTrack: Broadcast Camera Tracking for Soccer](https://mlsanity.com/paper/2412.01721/) (2024)
- [Evaluating Soccer Player: from Live Camera to Deep Reinforcement Learning](https://mlsanity.com/paper/2101.05388/) (2021)
- [Localization of Ice-Rink for Broadcast Hockey Videos](https://mlsanity.com/paper/2104.10847/) (2021)
- [KaliCalib: A Framework for Basketball Court Registration](https://mlsanity.com/paper/2209.07795/) (2022)
- [Learning Football Body-Orientation as a Matter of Classification](https://mlsanity.com/paper/2106.00359/) (2021)
- [Soccer line mark segmentation and classification with stochastic watershed transform](https://mlsanity.com/paper/2108.06432/) (2021)
- [Towards Automated Key-Point Detection in Images with Partial Pool View](https://mlsanity.com/paper/2208.05641/) (2022)
- [Multi-Camera Self-Calibration in Sports Motion Capture: Leveraging Human and Stick Poses](https://mlsanity.com/paper/2604.17567/) (2026)

## Abstract (arXiv)

Given an image sequence featuring a portion of a sports field filmed by a moving and uncalibrated camera, such as the one of the smartphones, our goal is to compute automatically in real time the focal length and extrinsic camera parameters for each image in the sequence without using a priori knowledges of the position and orientation of the camera. To this end, we propose a novel framework that combines accurate localization and robust identification of specific keypoints in the image by using a fully convolutional deep architecture. Our algorithm exploits both the field lines and the players' image locations, assuming their ground plane positions to be given, to achieve accuracy and robustness that is beyond the current state of the art. We will demonstrate its effectiveness on challenging soccer, basketball, and volleyball benchmark datasets.