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Abstract:
Hawk-Eye is a complex computer system officially used in numerous sports such as cricket, tennis, Gaelic football, badminton, hurling, Rugby Union, association football and volleyball, to visually follow the trajectory of the Ball and display a statistically more record Probable path as a moving image.
Hawk-Eye was developed in the UK by Paul Hawkins. The system was originally implemented in 2001 for television purposes in cricket. The system operates through six (sometimes seven) high performance chambers, usually placed at the bottom of the stadium ceiling, which traces the ball from different angles. The video of the six chambers is then triangulated and combined to create a three-dimensional representation of the ball's trajectory. Hawk-Eye is not infallible and precise within 5 millimeters (0.19 inches), but generally relied on an unbiased second opinion in sports.
It has been accepted by governing bodies in tennis, cricket and association football as a means of adjudication. Hawk-Eye has been used for the challenge system since 2006 in the tennis and referee review system in the cricket since 2009. The system was launched for the 2013-14 Premier League season as a means of Goal line technology. In December of 2014 the clubs of the first division of the Bundesliga decided to adopt this system for the season 2015-16


Method of operation
All Hawk-Eye systems are based on the principles of triangulation using visual images and time data provided by a series of high-speed video cameras located at different locations and angles around the playing area. For tennis there are ten cameras. The system quickly processes the video channels through a high speed camera and a ball tracker. The data warehouse contains a predefined model of the game area and includes data in the game rules.
In each frame, the camera identifies the group of pixels corresponding to the image of the ball. It then calculates for each frame the 3D position of the ball by comparing its position in at least two of the physically separated chambers at the same instant in time. A sequence of frames constructs a record of the path along which the ball has traveled. It also "predicts" the future flight path of the ball and where it will interact with any of the already programmed play areas in the database. The system can also interpret these interactions to decide infractions of the rules of the game.
The system generates a graphic image of the ball and the playing area, which means that information can be provided to judges, viewers or technical staff in near real time.
The pure tracking system is combined with a back-end database and archival capabilities so that it is possible to extract and analyze trends and statistics about individual players, games, ball-and-ball comparisons, and so on.


How does hawkeye work?

The complete installation includes six or seven high-speed vision processing cameras along with two broadcast cameras. When a throw is launched, the position of the ball recorded in each cameras is combined to form a "3D virtual"  positioning of the ball after its launch. The entire delivery process is divided into two parts, delivery to rebound and rebound to impact. Multiple ball position frames are measured and with this 3D virtual object, the direction, velocity, oscillation and immersion of that specific delivery can be calculated using 3D virtual object