Camera parameters estimation is an important issue in machine vision research area. This paper proposes a new method to find pan and tilt of camera in sport scene on the basis of vanishing points. Vanishing point (VP) of parallel lines is the image of the point at infinity, which corresponds to the projection of the intersection of parallel lines at infinity. According to projective geometry constraint, camera rotation of the projection matrix is computed directly by two vanishing points and pan and tilt of camera extracted from camera rotation matrix. Computer simulation data is carried out to validate our method.

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