A Visual System for Real Time Detection of Goal Events during Soccer Matches

During soccer matches a number of doubtful situations arise that cannot be easily judged by the referee committee. An automatic visual system that checks objectively image sequences would prevent wrong interpretations due to perspective errors, occlusions, or high velocity of the events. In this work we present a real time visual system for goal detection. Four cameras with high frame rates (200 fps) are placed on the two sides of the goal lines. Four computers process the images acquired by the cameras detecting the ball position in real time; the processing result is sent to a central supervisor which evaluates the goal event probability and, when the goal is detected, forwards a warning signal to the referee that takes the final decision.