Temporally consistent soccer field registration

In this paper, a system for temporally consistent registration of a soccer field is proposed. It is implemented using 2D field line and arc detection as well as motion estimation for frames where too few field lines are detected. We show that a combination of these technologies yields more consistent results than common state-of-the-art approaches. As an important additional contribution, a Kalman filter is applied to suppress remaining misdetections. The system is able to register the soccer field with a mean error of 2.53 m regardless of the visible field region.