GOOOOOOOOOOOOAAAAAAALLLLLL Detector

Well, Shredder and the Foot clan got the best of the Turtles tonight, so I'll say something short and sweet: FIFA needs to get their act together (read this). Get five of these, position them strategically around the goal as shown in figure 1. Get a high resolution high speed video camera looking down at the goal plane. Calibrate those bad boys, and get some grad students to do the algorithm design and implementation. There FIFA, I just saved you a boat load of cash... that'll be $20.

Figure 1: Goal detector sensor layout.