Takumi Shimawaki Takuro Sakiyama Jun Miura Yoshiaki Shirai Estimation of Ball Route under Overlapping with Players and Lines in Soccer Video Image Sequence. 359-362 2006 conf/icpr/2006 ICPR (1) http://doi.ieeecomputersociety.org/10.1109/ICPR.2006.503 db/conf/icpr/icpr2006-1.html#ShimawakiSMS06