Autonomous Referee System: Difference between revisions

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[[File:Drone Ref.png|thumb|right|600px|Illustration by Peter van Dooren, BSc student at Mechanical Engineering, TU Eindhoven, November 2016.]]
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<font size="4">'An objective referee for robot soccer'</font>
<font size="4">'An objective referee for robot football'</font>
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Building upon the project executed by the first generation of  Mechatronics System Design trainees, the objective of the project is to extend the system architecture (previously developed) and prove the concept by implementation of a robot-soccer match being refereed by a drone and a ground robot. These two robots (drone and ground robot) working together, are expected to evaluate two rules; 1) ball going out of pitch i.e. the outside rule and 2) collision between the players, i.e. a situation where a free-kick needs to be awarded against the defaulting team. 
On this page details regarding the architecture, the hardware used and the software developed for implementation are made available.


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__NOTOC__
A football referee can hardly ever make "the correct decision", at least not in the eyes of the thousands or sometimes millions of fans watching the game. When a decision will benefit one team, there will always be complaints from the other side. It is oft-times forgotten that the referee is also merely a human. To make the game more fair, the use of technology to support the referee is increasing. Nowadays, several stadiums are already equipped with [https://en.wikipedia.org/wiki/Goal-line_technology goal line technology] and referees can be assisted by a [http://quality.fifa.com/en/var/ Video Assistant Referee (VAR)]. If the use of technology keeps increasing, a human referee might one day become entirely obsolete. The proceedings of a match could be measured and evaluated by some system of sensors. With enough (correct) data, this system would be able to recognize certain events and make decisions based on these event.
The aim of this project is to do just that; making a system which can evaluate a soccer match, detect events and make decisions accordingly. Making a functioning system which could actually replace the human referee would probably take a couple of years, which we don't have. This project will focus on creating a high level system architecture and giving a prove of concept by refereeing a robot-soccer match, where currently the refereeing is also still done by a human. This project will build upon the [[Robotic_Drone_Referee|Robotic Drone Referee]] project executed by the first generation of Mechatronics System Design trainees.




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To navigate through this wiki, the internal navigation box on the right side of the page can be used.


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<center>[[File:tumbnail_test_video.png|center|750px|link=https://www.youtube.com/embed/XyRR3rPQ4R0?autoplay=1]]</center>




==Team==
=Team=
This project was carried out for the second module of the 2016 MSD PDEng program. The team consisted of the following members:
This project was carried out for the second module of the 2016 MSD PDEng program. The team consisted of the following members:
* Tim Verdonschot
* Akarsh Sinha
* Tuncay Uğurlu Ölçer
* Farzad Mobini
* Sa Wang
* Joep Wolken
* Joep Wolken  
* Jordy Senden
* Farzad Mobini  
* Sa Wang
* Jordy  Senden
* Tim Verdonschot
*       Akarsh Sinha
* Tuncay Uğurlu Ölçer






<center>[[File:Drone Ref.png|thumb|center|1000px|Illustration by Peter van Dooren, BSc student at Mechanical Engineering, TU Eindhoven, November 2016.]]</center>


=Acknowledgements=
A project like this is never done alone. We would like to express our gratitude to the following parties for their support and input to this project.
<center>[[File:logoAcknowledgements.png|center|1000px]]</center>
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==Ground Robot==
==Ground Robot==
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** The GR should be able to keep the ball in sight of its Kinect camera. If the ball is lost, GR should try to find it again with the Kinect.
** The GR should be able to keep the ball in sight of its Kinect camera. If the ball is lost, GR should try to find it again with the Kinect.
** Since the ball is best tracked with the Kinect, the omni-vision camera can be used to keep track of the players.  
** Since the ball is best tracked with the Kinect, the omni-vision camera can be used to keep track of the players.  
** To accommodate the ball and player tracking, the GR needs to be able to drive next to the field at:  x=-w/2+Δw,    y=[-l/2,0],    θ=[0,-π] during gameplay.


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The topcam can stream images with a framerate of 30 hz to the laptop, but searching the image for the drone (i.e. image processing) might be slower. This is not a problem, since the positioning of the drone itself is far from perfect and not critical as well. As long as the target of interest (ball, players) is within the field of view of the drone, it is acceptable.
The topcam can stream images with a framerate of 30 Hz to the laptop, but searching the image for the drone (i.e. image processing) might be slower. This is not a problem, since the positioning of the drone itself is far from perfect and not critical as well. As long as the target of interest (ball, players) is within the field of view of the drone, it is acceptable.




=References=
=References=
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Latest revision as of 16:07, 24 October 2017

'An objective referee for robot football'



A football referee can hardly ever make "the correct decision", at least not in the eyes of the thousands or sometimes millions of fans watching the game. When a decision will benefit one team, there will always be complaints from the other side. It is oft-times forgotten that the referee is also merely a human. To make the game more fair, the use of technology to support the referee is increasing. Nowadays, several stadiums are already equipped with goal line technology and referees can be assisted by a Video Assistant Referee (VAR). If the use of technology keeps increasing, a human referee might one day become entirely obsolete. The proceedings of a match could be measured and evaluated by some system of sensors. With enough (correct) data, this system would be able to recognize certain events and make decisions based on these event.


The aim of this project is to do just that; making a system which can evaluate a soccer match, detect events and make decisions accordingly. Making a functioning system which could actually replace the human referee would probably take a couple of years, which we don't have. This project will focus on creating a high level system architecture and giving a prove of concept by refereeing a robot-soccer match, where currently the refereeing is also still done by a human. This project will build upon the Robotic Drone Referee project executed by the first generation of Mechatronics System Design trainees.


To navigate through this wiki, the internal navigation box on the right side of the page can be used.


Tumbnail test video.png


Team

This project was carried out for the second module of the 2016 MSD PDEng program. The team consisted of the following members:

  • Akarsh Sinha
  • Farzad Mobini
  • Joep Wolken
  • Jordy Senden
  • Sa Wang
  • Tim Verdonschot
  • Tuncay Uğurlu Ölçer


Illustration by Peter van Dooren, BSc student at Mechanical Engineering, TU Eindhoven, November 2016.

Acknowledgements

A project like this is never done alone. We would like to express our gratitude to the following parties for their support and input to this project.

LogoAcknowledgements.png




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