In this paper, we present an efficient and robust method for estimating Homography matrix for soccer field registration between a captured camera image and a soccer field model. The presented method first detects reliable field lines from the camera image through clustering. Constructing a novel directional feature of the intersection points of the lines in both the camera image and the model, the presented method then finds matching pairs of these points between the image and the model. Finally, Homography matrix estimations and validations are performed using the obtained matching pairs, which can reduce the required number of Homography matrix calculations. Our presented method uses possible intersection points outside image for the point matching. This effectively improves robustness and accuracy of Homography estimation as demonstrated in experimental results.