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balls are round and glossy, lights shining on the field are very bright, good luck!
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This does indeed make it difficult to specifically see the balls. Add to that the ball color is not richly saturated day-glow colors, and it is an all new problem.
This is why the approach kamocat was using is a good one to experiment with. It doesn't look for the ball directly, it looks for missing carpet. Carpet is not shiny, and carpet doesn't even move around on the field. Now if only you can characterize the missing carpet as being a robot or a ball or a line or a wall.
Greg McKaskle