Refereeing Out of Pitch
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Overview
Refereeing out of pitch is enabled when the following conditions are met:
1. Drone Position is known [Link]
2. Drone is inside the Pitch [Link]
3. The ball has been detected [Link]
4. The Lines have been detected, filtered and matched with the outer model lines references[Link]
Relations:
- The ‘Localization’ skill [Link] covers points 1 and 2.
- Point 3 is covered by the ‘Detection’ skill [Link].
- Point 4 is covered in the ‘Refereeing’ subtask using the output lines from ‘Detection’ skill. [Link]
Once all conditions are met. The refereeing enables. The process of refereeing involves computer vision only. Conditions 1 and 2 are needed to enable refereeing but the outputs from 3 and 4 are the ones that are used for the actual refereeing.