The ball state tracking and detection technology plays a significant role in volleyball game analysis, whose performance is limited due to the challenges include: 1) the inaccurate ball trajectory; 2) multiple numbers of the ball event category; 3) the large intra-class difference of one event. With the goal of broadcasting supporting for volleyball games which requires a real time system, this paper proposes a ball state based parallel ball tracking and event detection method based on a sequential estimation method such as particle filter. This method employs a parallel process of the 3D ball tracking and the event detection so that it is friendly for real time system implementation. The 3D ball tracking process uses the same models with the past work [8]. For event detection process, a ball event change estimation based multiple system model, a past trajectory referred hit point likelihood and a court-line distance feature based event type detection are proposed. First, the multiple system model transits the ball event state, which consists the event starting time and the event type, through three models dealing with different ball motion situations in the volleyball game, such as the motion keeping and changing. The mixture of these models is decided by estimation of the ball event change estimation. Secondly, the past trajectory referred hit point likelihood avoids the processing time delay between the ball tracking and the event detection process by evaluating the probability of the ball being hit at certain time without using future ball trajectories. Third, the feature of the distance between the ball and the specific court line are extracted to detect the ball event type. Experimental results based on multi-view HDTV video sequences (2014 Inter High School Men's Volleyball Games, Japan), which contains 606 events in total, show that the detection rate reaches 88.61% while the success rate of 3D ball tracking keeps more than 99%.

3D ball tracking is of great significance in ping-pong game analysis, which can be utilized to applications such as TV contents and tactic analysis, with some of them requiring real-time implementation. This paper proposes a CPU-GPU platform based Particle Filter for multi-view ball tracking including 4 proposals. The multi-peak estimation and the ball-like observation model are proposed in the algorithm design. The multi-peak estimation aims at obtaining a precise ball position in case the particles' likelihood distribution has multiple peaks under complex circumstances. The ball-like observation model with 4 different likelihood evaluation, utilizes the ball's unique features to evaluate the particle's similarity with the target. In the GPU implementation, the double-queue structure and the vectorized data combination are proposed. The double-queue structure aims at achieving task parallelism between some data-independent tasks. The vectorized data combination reduces the time cost in memory access by combining 3 different image data to 1 vector data. Experiments are based on ping-pong videos recorded in an official match taken by 4 cameras located in 4 corners of the court. The tracking success rate reaches 99.59% on CPU. With the GPU acceleration, the time consumption is 8.8 ms/frame, which is sped up by a factor of 98 compared with its CPU version.

Volleyball video analysis plays important roles in providing data for TV contents and developing strategies. Among all the topics of volleyball analysis, qualitative player action recognition is essential because it potentially provides not only the action that being performed but also the quality, which means how well the action is performed. However, most action recognition researches focus on the discrimination between different actions. The quality of an action, which is helpful for evaluation and training of the player skill, has only received little attention so far. The vital problems in qualitative action recognition include occlusion, small inter-class difference and various kinds of appearance caused by the player change. This paper proposes a 3D global and multi-view local features combination based recognition framework with global team formation feature, ball state feature and abrupt pose features. The above problems are solved by the combination of 3D global features (which hide the unstable and incomplete 2D motion feature caused by occlusion) and the multi-view local features (which get detailed local motion features of body parts in multiple viewpoints). Firstly, the team formation extracts the 3D trajectories from the whole team members rather than a single target player. This proposal focuses more on the entire feature while eliminating the personal effect. Secondly, the ball motion state feature extracts features from the 3D ball trajectory. The ball motion is not affected by the personal appearance, so this proposal ignores the influence of the players appearance and makes it more robust to target player change. At last, the abrupt pose feature consists of two parts: the abrupt hit frame pose (which extracts the contour shape of the player's pose at the hit time) and abrupt pose variation (which extracts the pose variation between the preparation pose and ending pose during the action). These two features make difference of each action quality more distinguishable by focusing on the motion standard and stability between different quality actions. Experiments are conducted on game videos from the Semifinal and Final Game of 2014 Japan Inter High School Games of Men's Volleyball in Tokyo Metropolitan Gymnasium. The experimental results show the accuracy achieves 97.26%, improving 11.33% for action discrimination and 91.76%, and improving 13.72% for action quality evaluation.

The spike height of volleyball players is important in volleyball analysis as the quantitative criteria to evaluation players' motions, which not only provides rich information to audiences in live broadcast of sports events but also makes contribution to evaluate and improve the performance of players in strategy analysis and players training. In the volleyball game scene, the high similarity between hands, the deformation and the occlusion are three main problems that influence the acquisition performance of spike height. To solve these problems, this paper proposes a body part connection, categorization and occlusion based observation model and a temporal position based correction method. Firstly, skin pixel filter based connection detection solves the problem of high similarity between hands by judging whether a hand is connected to the spike player. Secondly, the body part categorization based observation uses the probability distribution map of hand to determine the category of each body part to solve the deformation problem. Thirdly, the occlusion part detection based observation eliminates the influence of the views with occluded body part by detecting the occluded views with a trained classifier of body part. At last, the temporal position based result correction combines the estimated results, which refers the historical positions, and the posterior result to obtain an optimal result by degree of confidence. The experiments are based on the videos of final and semi-final games of 2014 Japan Inter High School Men's Volleyball in Tokyo Metropolitan Gymnasium, which includes 196 spike sequences of 4 teams. The experiment results of proposed methods are that: 93.37% of test sequences can be successfully detected the spike height, and in which the average error of spike height is 5.96cm.

Real-time 3D players tracking plays an important role in sports analysis, especially for the live services of sports broadcasting, which have a strict limitation on processing time. For these kinds of applications, 3D trajectories of players contribute to high-level game analysis such as tactic analysis and commercial applications such as TV contents. Thus real-time implementation for 3D players tracking is expected. In order to achieve real-time for 60fps videos with high accuracy, (that means the processing time should be less than 16.67ms per frame), the factors that limit the processing time of target algorithm include: 1) Large image area of each player. 2) Repeated processing of multiple players in multiple views. 3) Complex calculation of observation algorithm. To deal with the above challenges, this paper proposes a representative spatial selection and temporal combination based real-time implementation for multi-view volleyball players tracking on the GPU device. First, the representative spatial pixel selection, which detects the pixels that mostly represent one image region to scale down the image spatially, reduces the number of processing pixels. Second, the representative temporal likelihood combination shares observation calculation by using the temporal correlation between images so that the times of complex calculation is reduced. The experiments are based on videos of the Final and Semi-Final Game of 2014 Japan Inter High School Games of Men's Volleyball in Tokyo Metropolitan Gymnasium. On the GPU device GeForce GTX 1080Ti, the tracking system achieves real-time on 60fps videos and keeps the tracking accuracy higher than 97%.

Automatic game strategy data acquisition is important for the realization of the professional strategy analysis systems by providing evaluation values such as the team status and the efficacy of plays. The key factor that influences the performance of the strategy data acquisition in volleyball game is the unknown player roles. Player role means the position with game meaning of each player in the team formation, such as the setter, attacker and blocker. The unknown player role makes individual player unreliable and loses the contribution of each player in the strategy analysis. This paper proposes a court-divisional team motion feature and a player performance curve to deal with the unknown player roles in strategy data acquisition. Firstly, the court-divisional team motion feature is proposed for the team tactical status detection. This feature reduces the influence of individual player information by summing up the ball relative motion density of all the players in divided court area, which corresponds to the different plays. Secondly, the player performance curves are proposed for the efficacy variables acquisition in attack play. The player roles candidates are detected by three features that represent the entire process of a player starting to rush (or jump) to the ball and hit the ball: the ball relative distance, ball approach motion and the attack motion feature. With the 3D ball trajectories and multiple players' positions tracked from multi-view volleyball game videos, the experimental detection rate of each team status (attack, defense-ready, offense-ready and offense status) are 75.2%, 84.2%, 79.7% and 81.6%. And for the attack efficacy variables acquisition, the average precision of the set zone, the number of available attackers, the attack tempo and the number of blockers are 100%, 100%, 97.8%, and 100%, which achieve 8.3% average improvement compared with manual acquisition.

Significant challenges in ball tracking of sports analysis by computer vision technology are: 1) accuracy of estimated 3D ball trajectory under difficult conditions; 2) external forces added by players lead to irregular motions of the ball; 3) unpredictable situations in the real game, i.e. the ball occluded by players and other objects, complex background and changing lighting condition. With the goal of multi-view 3D ball tracking, this paper proposes an abrupt motion adaptive system model, an anti-occlusion observation model, and a spatial density-based automatic recovery based on particle filter. The system model combines two different system noises that cover the motion of the ball both in general situation and situation subject to abrupt motion caused by external force. Combination ratio of these two noises and number of particles are adaptive to the estimated motion by weight distribution of particles. The anti-occlusion observation model evaluates image feature of each camera and eliminates influence of the camera with less confidence. The spatial density, which is calculated based on 3D ball candidates filtered out by spatial homographic relationship between cameras, is proposed for generating new set of particles to recover the tracking when tracking failure is detected. Experimental results based on HDTV video sequences (2014 Inter High School Men's Volleyball Games, Japan), which were captured by four cameras located at each corner of the court, show that the success rate achieved by the proposals of 3D ball tracking is 99.42%.

In real-time 3D ball tracking of sports analysis in computer vision technology, complex algorithms which assure the accuracy could be time-consuming. Particle filter based algorithm has a large potential to accelerate since the algorithm between particles has the chance to be paralleled in heterogeneous CPU-GPU platform. Still, with the target multi-view 3D ball tracking algorithm, challenges exist: 1) serial flowchart for each step in the algorithm; 2) repeated processing for multiple views' processing; 3) the low degree of parallelism in reweight and resampling steps for sequential processing. On the CPU-GPU platform, this paper proposes the double stream system flow, the view priority based threads allocation, and the binary search oriented reweight. Double stream system flow assigns tasks which there is no data dependency exists into different streams for each frame processing to achieve parallelism in system structure level. View priority based threads allocation manipulates threads in multi-view observation task. Threads number is view number multiplied by particles number, and with view priority assigning, which could help both memory accessing and computing achieving parallelism. Binary search oriented reweight reduces the time complexity by avoiding to generate cumulative distribution function and uses an unordered array to implement a binary search. The experiment is based on videos which record the final game of an official volleyball match (2014 Inter-High School Games of Men's Volleyball held in Tokyo Metropolitan Gymnasium in Aug. 2014) and the test sequences are taken by multiple-view system which is made of 4 cameras locating at the four corners of the court. The success rate achieves 99.23% which is the same as target algorithm while the time consumption has been accelerated from 75.1ms/frame in CPU environment to 3.05ms/frame in the proposed system which is 24.62 times speed up, also, it achieves 2.33 times speedup compared with basic GPU implemented work.