# MARIO: Modular and Extensible Architecture for Computing Visual Statistics in RoboCup SPL

arXiv: https://arxiv.org/abs/2209.09987 · HTML: https://mlsanity.com/paper/2209.09987/

## Key facts

- Cited by 1 papers in the map (data through 14 Oct 2026).
- Builds on 10 of its 29 references that are in the map.
- First posted on arXiv 20 Sep 2022.

## Builds on (most cited first, 10 of 10)

- [You Only Look Once: Unified, Real-Time Object Detection](https://mlsanity.com/paper/1506.02640/) (2015)
- [MobileNets: Efficient Convolutional Neural Networks for Mobile Vision Applications](https://mlsanity.com/paper/1704.04861/) (2017)
- [Spatial Temporal Graph Convolutional Networks for Skeleton-Based Action Recognition](https://mlsanity.com/paper/1801.07455/) (2018)
- [OpenPose: Realtime Multi-Person 2D Pose Estimation using Part Affinity Fields](https://mlsanity.com/paper/1812.08008/) (2018)
- [Simple Online and Realtime Tracking with a Deep Association Metric](https://mlsanity.com/paper/1703.07402/) (2017)
- [Simple Online and Realtime Tracking](https://mlsanity.com/paper/1602.00763/) (2016)
- [StrongSORT: Make DeepSORT Great Again](https://mlsanity.com/paper/2202.13514/) (2022)
- [A Survey of Modern Deep Learning based Object Detection Models](https://mlsanity.com/paper/2104.11892/) (2021)
- [Deep Cosine Metric Learning for Person Re-Identification](https://mlsanity.com/paper/1812.00442/) (2018)
- [Real-time 2D Multi-Person Pose Estimation on CPU: Lightweight OpenPose](https://mlsanity.com/paper/1811.12004/) (2018)

## Built on by (most cited first, 1 of 1)

- [An LLM-Based Automatic Sportscast Solution for Robot Soccer Matches](https://mlsanity.com/paper/2607.14809/) (2026)

## Abstract (arXiv)

This technical report describes a modular and extensible architecture for computing visual statistics in RoboCup SPL (MARIO), presented during the SPL Open Research Challenge at RoboCup 2022, held in Bangkok (Thailand). MARIO is an open-source, ready-to-use software application whose final goal is to contribute to the growth of the RoboCup SPL community. MARIO comes with a GUI that integrates multiple machine learning and computer vision based functions, including automatic camera calibration, background subtraction, homography computation, player + ball tracking and localization, NAO robot pose estimation and fall detection. MARIO has been ranked no. 1 in the Open Research Challenge.