AutoRef Honors2019 conclusion

AutoRef Honors 2019 Navigation

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1. Main

2. Timeline logs/thought process

3. Software Architecture

4. Vision

5. Simulation

6. Conclusion + Future goals

AutoRef Honors 2019 - Conclusion

Conclusion

The project goal was to autonomously assist a football referee in a 2 versus 2 robot soccer match using a drone by enforcing three main rules: out of bounds, free kick and goal. We have not been able to reach this goal, non of the three rules can be enforced now. We have gotten to the point where we can follow the ball in the simulation, with some testing this should be gotten to work in reality as well. The lines can be detected, but further work is needed to make this code detect when the goal is out of bounds or in the goal. Recognition of the robots and distance computation have not been worked on yet, so the free kick rules will take longer to implement.

Future Work

all of our work can be downloaded future work

Line detection needs to be extended by differentiating what line represents an outer line or a goal line, this could be done by fitting the detected lines to a model of the field.

which rules and how

test what we achieved in real life, already think about what is most likely to go wrong

possible solutions

suggestions

testing whether scalable