Xinguo Yu Xiaoying Tu Ee-Luang Ang Trajectory-Based Ball Detection and Tracking in Broadcast Soccer Video with the Aid of Camera Motion Recovery. 1543-1546 2007 ICME http://dx.doi.org/10.1109/ICME.2007.4284957 conf/icmcs/2007 db/conf/icmcs/icme2007.html#YuTA07