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This paper proposes an exact and robust genetic algorithm-based method for the calibration of soccer camera. According to the FIFA official soccer field layout we defined a field model for the soccer court. Camera calibration is done through finding the homography transform between the field model and the input frame which is followed with DLT decomposition. The intersection of lines in the field model and input frame form feature points and by means of a genetic algorithm, we found the correspondence between those points. Our algorithm was applied to a couple of soccer video frames and the achieved results demonstrate its robustness, accuracy and high performance.