# DeepDarts: Modeling Keypoints as Objects for Automatic Scorekeeping in Darts using a Single Camera

arXiv: https://arxiv.org/abs/2105.09880 · HTML: https://mlsanity.com/paper/2105.09880/

## Key facts

- Cited by 2 papers in the map (data through 14 Oct 2026).
- Builds on 36 of its 51 references that are in the map.
- First posted on arXiv 20 May 2021.

## Builds on (most cited first, 30 of 36)

- [Adam: A Method for Stochastic Optimization](https://mlsanity.com/paper/1412.6980/) (2014)
- [Faster R-CNN: Towards Real-Time Object Detection with Region Proposal Networks](https://mlsanity.com/paper/1506.01497/) (2015)
- [Mask R-CNN](https://mlsanity.com/paper/1703.06870/) (2017)
- [SGDR: Stochastic Gradient Descent with Warm Restarts](https://mlsanity.com/paper/1608.03983/) (2016)
- [You Only Look Once: Unified, Real-Time Object Detection](https://mlsanity.com/paper/1506.02640/) (2015)
- [SSD: Single Shot MultiBox Detector](https://mlsanity.com/paper/1512.02325/) (2015)
- [Fast R-CNN](https://mlsanity.com/paper/1504.08083/) (2015)
- [YOLOv3: An Incremental Improvement](https://mlsanity.com/paper/1804.02767/) (2018)
- [Rich feature hierarchies for accurate object detection and semantic segmentation](https://mlsanity.com/paper/1311.2524/) (2013)
- [YOLOv4: Optimal Speed and Accuracy of Object Detection](https://mlsanity.com/paper/2004.10934/) (2020)
- [YOLO9000: Better, Faster, Stronger](https://mlsanity.com/paper/1612.08242/) (2016)
- [Deep High-Resolution Representation Learning for Human Pose Estimation](https://mlsanity.com/paper/1902.09212/) (2019)
- [Cascade R-CNN: Delving into High Quality Object Detection](https://mlsanity.com/paper/1712.00726/) (2017)
- [Objects as Points](https://mlsanity.com/paper/1904.07850/) (2019)
- [Realtime Multi-Person 2D Pose Estimation using Part Affinity Fields](https://mlsanity.com/paper/1611.08050/) (2016)
- [Stacked Hourglass Networks for Human Pose Estimation](https://mlsanity.com/paper/1603.06937/) (2016)
- [Object Detection with Deep Learning: A Review](https://mlsanity.com/paper/1807.05511/) (2018)
- [Simple Baselines for Human Pose Estimation and Tracking](https://mlsanity.com/paper/1804.06208/) (2018)
- [Distance-IoU Loss: Faster and Better Learning for Bounding Box Regression](https://mlsanity.com/paper/1911.08287/) (2019)
- [Cascaded Pyramid Network for Multi-Person Pose Estimation](https://mlsanity.com/paper/1711.07319/) (2017)
- [DeepPose: Human Pose Estimation via Deep Neural Networks](https://mlsanity.com/paper/1312.4659/) (2013)
- [HigherHRNet: Scale-Aware Representation Learning for Bottom-Up Human Pose Estimation](https://mlsanity.com/paper/1908.10357/) (2019)
- [Scaled-YOLOv4: Scaling Cross Stage Partial Network](https://mlsanity.com/paper/2011.08036/) (2020)
- [SoccerNet: A Scalable Dataset for Action Spotting in Soccer Videos](https://mlsanity.com/paper/1804.04527/) (2018)
- [Joint Training of a Convolutional Network and a Graphical Model for Human Pose Estimation](https://mlsanity.com/paper/1406.2984/) (2014)
- [Hand Pose Estimation via Latent 2.5D Heatmap Regression](https://mlsanity.com/paper/1804.09534/) (2018)
- [Style Aggregated Network for Facial Landmark Detection](https://mlsanity.com/paper/1803.04108/) (2018)
- [TTNet: Real-time temporal and spatial video analysis of table tennis](https://mlsanity.com/paper/2004.09927/) (2020)
- [GolfDB: A Video Database for Golf Swing Sequencing](https://mlsanity.com/paper/1903.06528/) (2019)
- [Using Player's Body-Orientation to Model Pass Feasibility in Soccer](https://mlsanity.com/paper/2004.07209/) (2020)

## Built on by (most cited first, 2 of 2)

- [Rethinking Keypoint Representations: Modeling Keypoints and Poses as Objects for Multi-Person Human Pose Estimation](https://mlsanity.com/paper/2111.08557/) (2021)
- [Calisthenics Skills Temporal Video Segmentation](https://mlsanity.com/paper/2507.12245/) (2025)

## Abstract (arXiv)

Existing multi-camera solutions for automatic scorekeeping in steel-tip darts are very expensive and thus inaccessible to most players. Motivated to develop a more accessible low-cost solution, we present a new approach to keypoint detection and apply it to predict dart scores from a single image taken from any camera angle. This problem involves detecting multiple keypoints that may be of the same class and positioned in close proximity to one another. The widely adopted framework for regressing keypoints using heatmaps is not well-suited for this task. To address this issue, we instead propose to model keypoints as objects. We develop a deep convolutional neural network around this idea and use it to predict dart locations and dartboard calibration points within an overall pipeline for automatic dart scoring, which we call DeepDarts. Additionally, we propose several task-specific data augmentation strategies to improve the generalization of our method. As a proof of concept, two datasets comprising 16k images originating from two different dartboard setups were manually collected and annotated to evaluate the system. In the primary dataset containing 15k images captured from a face-on view of the dartboard using a smartphone, DeepDarts predicted the total score correctly in 94.7% of the test images. In a second more challenging dataset containing limited training data (830 images) and various camera angles, we utilize transfer learning and extensive data augmentation to achieve a test accuracy of 84.0%. Because DeepDarts relies only on single images, it has the potential to be deployed on edge devices, giving anyone with a smartphone access to an automatic dart scoring system for steel-tip darts. The code and datasets are available.