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| <center>
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| {{:Content_MSD19_small}}
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| </center>
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| </div>
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| __TOC__
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| =Background=
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| Two agents will be used to referee the game: a drone moving above the pitch and a remote human referee,
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| receiving video streams from a camera-gimbal system attached to the drone. The motion controller of the
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| drone and camera system must provide video streams allowing for an adequate situation awareness of the
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| human referee, and consequently enabling him/her to make proper decisions. A visualization and command
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| interface shall allow interaction between the drone and the human referee. In particular, besides allowing
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| the visualization of the real-time video stream this interface shall allow for more features such as on-demand
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| repetitions of recent plays and enable the human referee to send decisions (kick-off, foul, free throw, etc)
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| which should be signaled to the audience via LEDs placed on the environment and a display connected to a
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| ground station. Moreover, based on computer vision processing, an algorithm which can run on the remote
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| PC showing the video stream to the human referee, shall give a recommendation to the human referee with
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| respect to the following two rules:
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| * Free throw, when the ball moves out of the bounds of the pitch, crossing one of the four lines delimiting
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| the field.
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| * When robot players in the pitch touch each other a potential foul can occur. Therefore, the system
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| should detect and signal when two robot players in the pitch are touching each other.
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| If time permits, the remote referee can be given a recommendation by the autonomous system on more
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| rules, such as the distance rules for free kicks mentioned before. The robot soccer field at the mechanical
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| engineering department, building GEM-N, will be used to test the algorithms.
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| =System Objectives=
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| =Project Scope=
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