Hawkeye technology uses multiple cameras to visually track and triangulate the position of a ball in 3D space. It was developed in 2001 by Dr. Paul Hawkins to aid in line call and dismissal decisions in sports like tennis and cricket. The system calibrates camera parameters and uses image processing to identify the ball in each frame before applying triangulation algorithms to determine the ball's trajectory over time. Hawkeye provides 3D spatial data that can generate visualizations and statistics to analyze shots, player performance, and review difficult on-field decisions. It has become an integral part of many professional sporting events.

1. Hawkeye Technology
By
Venkataraj R
USN:4su09ec065

2. Introduction
Hawk-Eye is a computer technology used in sports to
visually track the path of the ball developed in 2001.
 It was developed by Dr. Paul Hawkins while working for
Roke Manor Research Limited.
 Derived its concept from that of missile-tracking
technology.
The technology is was then turned into a commercial
product by the spinoff company Hawk-eye Innovations Ltd.

3. Step by step analysis of Hawkeye system

4. The Cameras
JAI monochrome digital video cameras.
Matrox Meteor-II multi-channel frame grabber supported by
Matrox Imaging Library (MIL-Lite) software.
Operated in Active mode & Passive mode.

5. Calibration process
Intrinsic Parameters: Parameters of the camera such as Focal
length, pixel skew and the principal point.
Extrinsic Parameters: The location and orientation of the
camera in world space.
Lens Distortion Coefficients: Radial and tangential coefficients
introduced as an artefact of the camera’s lens.
Comparison between original and rectified image:

6. Core image processing job
Identifying pixels representing the ball in each image.
Applying a geometric algorithm (Triangulation).
Plotting up the 3D position of the ball in space.

7. Ball recognition
A blob detection scheme is used to detect the ball.
Blob represents group of pixels corresponding to the ball.
Knowing Size and Shape of object(i.e. ball) makes the
detection easier.
Knowing position of sun and position of the ball in previous
frame becomes useful for eliminating shadow of the ball during
detection.

8. Geometric Algorithm
Triangulation Process:
Determines accurately the position of the ball in 3D.
Two sub-processes:
2D position calculation
Depth calculation

9. Triangulation

10. Determining the 3D position of the ball
The cameras are mounted at ground level, positioned with their
vision parallel to the ground.

11.  Triangulation is the process of determining three-dimensional
world coordinates for an object given two-dimensional views of
it from multiple cameras.
Three dimensional triangulation of camera rays:

12. Tracking the ball at various instants
The images are taken by cameras at times t0, t1,…..,tn during
the play of a single ball.
Computation done at each time instant, ti ,0≤i≤n we will get n
points, say (xi,yi,zi) for 0≤i≤n. Plot the n points.

13. Predicting the Flight or Trajectory of the ball
There is a standard technique, used commonly i.e. Computer
Aided Geometric Design.
The more points we can get on the curve and the higher degree
of polynomial basis we choose to use, we will end up with
better approximations to the original curve.
It goes through some points which are of special interest. These
include the ball hitting the pitch, the stumps, and the batsman
among others.

14. Applications
LBW Decisions:

15. Wagon Wheels:
The trajectories which the ball has taken after being hit by the
batsman are recorded in the system. This is used to generate a
graphic showing 1s, 2s, 3s, 4s, and 6s all in different colours for a
batsman.

16. Rail Cam:
Pitch Maps:

17. Beehives:
Prediction of the “in” & “out”:

18. Snooker:
This technology is useful in cases where the path of the cue ball
can be tracked.

19. CONCLUSION:
Statistics Show..
Tennis Cricket
Simon Taufel = best
modern umpire