Real-time Localization of a Soccer Ball from a Single Camera

We propose a computationally efficient method for real-time three-dimensional football trajectory reconstruction from a single broadcast camera. In contrast to previous work, our approach introduces a multi-mode state model with W discrete modes to significantly accelerate optimization while preserving centimeter-level accuracy -- even in cases of severe occlusion, motion blur, and complex backgrounds. The system operates on standard CPUs and achieves low latency suitable for live broadcast settings. Extensive evaluation on a proprietary dataset of 6K-resolution Russian Premier League matches demonstrates performance comparable to multi-camera systems, without the need for specialized or costly infrastructure. This work provides a practical method for accessible and accurate 3D ball tracking in professional football environments.