3D Ball Localization From a Single Calibrated Image

Gabriel Van Zandycke, Christophe De Vleeschouwer; Proceedings of the IEEE/CVF Conference on Computer Vision and Pattern Recognition (CVPR) Workshops, 2022, pp. 3472-3480

3D ball localization in team sports has various applications including automatic offside detection in soccer, or shot release localization in basketball. Today, this task is either resolved by using expensive multi-views setups, or by restricting the analysis to ballistic trajectories. In this work, we propose to address the task on a single image from a calibrated monocular camera by estimating ball diameter in pixels and use the knowledge of real ball diameter in meters. This approach is suitable to any game situation where the ball is (even partly) visible. To achieve this, we use a small neural network trained on image patches around candidates generated by a conventional ball detector. Beside predicting ball diameter, our network outputs the confidence of having a ball in the image patch. Validations on 3 basketball datasets reveals that our model gives remarkable predictions on ball 3D localization. In addition, through its confidence output, our model improves the detection rate by filtering the candidates produced by the detector. The contributions of this work are (i) the first model to address 3D ball localization on a single image, (ii) an effective method for ball 3D annotation from single calibrated images, (iii) a high quality 3D ball evaluation dataset annotated from a single viewpoint. In addition, the code to reproduce this research is made freely available.