Camera pose estimation in soccer scenes based on vanishing points

Camera parameters estimation is an important issue in machine vision. This paper proposes a new method to find translation and rotation matrix of camera in sport scene on the basis of vanishing points. Vanishing point (VP) of parallel lines is the image of the point at infinity, which corresponds to the projection of the intersection of parallel lines at infinity. According to projective geometry constraint, camera rotation of the projection matrix is computed directly by two vanishing points and pan and tilt of camera extracted from this matrix. Mathematical proof and Computer simulation are carried out to validate our novel method.