FIFA will introduce goal-line technology at the seven-team Club World Cup in Japan in December, and plans to use it in Brazil at the 2013 Confederations Cup and 2014 World Cup, secretary general Jerome Valcke said.
"We want to make sure that the systems at the World Cup work at 150 percent, not 90 percent," Valcke said.
FIFA will use both Hawk-Eye and GoalRef systems in Japan, after they won "unanimous" support from the International Football Association Board (IFAB) panel, Valcke said.
The English Premier League is expected to adopt one of the systems — which are expected to cost up to $250,000 per stadium — during next season.
FIFA President Sepp Blatter was a member of the IFAB panel which accepted test results proving that the systems quickly and accurately judge when balls cross the goal line.
Hawk-Eye is a British camera-based system already used in tennis and cricket. GoalRef is a Danish-German project using magnetic sensors to track a special ball.
The historic decision was taken by an IFAB panel comprising officials from FIFA and the four British football associations.
Thursday's decision was expected and completed Blatter's u-turn, after FIFA had previously blocked using technology to help referees make decisions.
Blatter's conversion came two years ago when he saw England denied a clear goal by midfielder Frank Lampard against Germany at the 2010 World Cup.
Two days later, Blatter said FIFA must reopen the debate, though insisted it must involve only goal-line decisions. Video replay remains off limits for judgment calls, such as penalties or offside.
Blatter achieved his goal against the wishes of UEFA President Michel Platini, who opposes giving match officials any hi-tech aids.
Still, Platini's rival project which seeks to keep all technology out of decision-making also received support on Thursday.
UEFA's proposal of a five-referees system to officiate matches — placing an additional assistant beside each goal — won IFAB approval after three years of trials in more than 1,000 matches.
That decision came just two weeks after Platini's pet project suffered its biggest public failure, helping eliminate co-host Ukraine at the European Championship.
A Hungarian refereeing team did not spot that a shot by Ukraine forward Marko Devic crossed the line before England defender John Terry hooked the ball clear. England won 1-0 and advanced to the quarterfinals.
Neither goal-line technology nor the five-referee system is binding on leagues or competition organizers. Both are options to choose — and pay for — once IFAB approved the principle.
Major League Soccer in the United States has also said it wants to adopt goal-line systems.
IFAB is a 126-year-old body which acts as guardian of the laws of football.
Six votes are needed to approve a change, with FIFA holding a four-vote bloc and the four British associations having one vote each.
