AutoRef implementation

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The implementation for the AutoRef autonomous referee for RoboCup Middle Size League (MSL) robot soccer is the proposed design of the AutoRef system.

In 2021 contributions by MSD 2020 focused on detecting ball-to-player distance violations.

Introduction

Objective statement

The main objective of the implementation part of the project was to detect violations of the rules related to the distance between the ball and players during the following game states:

  • Free kick
  • Kick-off
  • Corner kick
  • Goal kick
  • Throw-in
  • Dropped-ball
  • Penalty kick

These rules are described in Laws number 8, 10, 13, 14, and 15 of the MSL Rulebook.

Motivation

Scope of work

Process model

Introduction

Use of V-model

Agile approach

Major design choices

Programming language

Selection of test environment

Vision system parameters

Requirements

Functional requirements

Performance requirements

Frequency

Accuracy

Other context information

Colour detection requirement

Minimal distortion requirement

Architecture decomposition

Explanation of individual code blocks

Zone of field detection

Ball detection

Player detection

Area of interest

Player classification

Decision making function

Verification

Image use case testing

Video use case testing

Long video simulation

Conclusion and recommendations for future work

Conclusion

recommendations