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40 ’OUR LEFT CORNER’ ’OUR RIGHT CORNER’ ’THEIR LEFT CORNER’ ’THEIR RIGHT CORNER’ ’OUR LEFT GOAL POST’ ’OUR LEFT GOAL WALL’ ’OUR RIGHT GOAL POST’ ’OUR RIGHT GOAL WALL’ ’THEIR LEFT GOAL POST’ ’THEIR LEFT GOAL WALL’ ’THEIR RIGHT GOAL POST’ ’THEIR RIGHT GOAL WALL’ ’OUR LEFT BOX WALL’ ’OUR LEFT BOX FRONT’ ’OUR RIGHT BOX WALL’ ’OUR RIGHT BOX FRONT’ ’THEIR LEFT BOX WALL’ ’THEIR LEFT BOX FRONT’ ’THEIR RIGHT BOX WALL’ ’THEIR RIGHT BOX FRONT’ ’CENTER OF FIELD’ → height Table 7.1: LUT mapping of real word colors to an integer value. The Field points used are listed in Table 7.1 These points are sequentially selected from the picture using the goal lines and field boundaries. The image to real world translation is carried out with the help of the distortion calibration parameter file. The field calibration essentially involves finding real world coordinates from given image coordinates by interpolating data obtained from the Distortion Calibration parameter file. This translation is completely based on trigonometric derivations. It uses the basic mathematical principle that given three points, they uniquely define
