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In this paper we propose an accurate and robust image mosaicing method of soccer video taken from a rotating and zooming camera using line tracking and self-calibration. The mosaicing of soccer videos is not easy, because their playing fields are low textured and moving players are included in the fields. Our approach is to track line features on the playing fields. The line features are detected and tracked using a self-calibration technique for a rotating and zooming camera. To track line features efficiently, we propose a new line tracking algorithm, called camera parameter guided line tracking, which works even when the camera motion undergoes sudden changes. Since we do not need to know any model for scenes beforehand, the proposed algorithm can be easily extended to other video sources, as well as other sports videos. Experimental results show the accuracy and robustness of the algorithm …