[Python] How to calculate distance between points at different heights in a floor

We are using OpenCV for an automated soccer-playing robot. On the field, we need to accurately calculate the distance between the robot and the ball.

Our robot has a height of approximately 16 cm, and the ball has a diameter of 6 cm. Due to this height difference, the distance calculations become inaccurate, especially when the robot moves toward the corners of the field.

We have attempted camera calibration and explored the homography matrix method.

Could you confirm if it is possible to achieve accurate distance measurements between these two objects using a top-view camera setup? If yes, please suggest the appropriate method or approach.

Distance appears to be less when ball/bot is at corner

Distance is correct when ball/bot is at center

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