Line Detection

Design Choice

The purpose of detecting lines is to identify the lines that enclose the field and be able to referee an out of pitch ball or a goal scored. Along with ball detection, a vision based method was required to gain accuracy while refereeing without using invasive methods on the ball or the pitch.

Similar to the circular shape matching described in the ball detection approach, here the Hough transform is used to detect lines. Before doing so, several steps must be performed:.

1. Undistort image to get straight lines (In case a wide/fisheye camera is used)

2. Apply a color mask to get only the lines on the frame

3. Line Detection