Refereeing Out of Pitch

Overview

Refereeing out of pitch is enabled when the following conditions are met:

Frame feed to the ‘Detection’ skill

1. Drone Position is known [Link]

2. Drone is inside the Pitch [Link]

3. The ball has been detected [Link]

4. The Lines have been detected, filtered and matched with the outer model lines references[Link]

Relations:

• The ‘Localization’ skill [Link] covers points 1 and 2.

• Point 3 is covered by the ‘Detection’ skill [Link].

• Point 4 is covered in the ‘Refereeing’ subtask using the output lines from ‘Detection’ skill. [Link]

Once all conditions are met. The refereeing enables. The process of refereeing involves computer vision only. Conditions 1 and 2 are needed to enable refereeing but the outputs from 3 and 4 are the ones that are used for the actual refereeing.