Visual tracking and localization of billboards in streamed soccer matches

In this paper we present a system for the localisation and tracking of billboards in streamed soccer matches. The application area for this research is the delivery of customised content to end users. When international soccer matches are broadcast, the diversity of the audience is very large and advertisers would like to be able to adapt the billboards to the different audiences. By replacing the billboards in the video stream this can be achieved. In order to build a more robust system, photometric invariant features are used. These colour features are less susceptible to the changes in illumination. Sensor noise is dealt with through variable kernel density estimation.