There's always going to be a gray area when it comes to contact like Balogun's against Bosnia. Refereeing from one tournament to another isn't the same, the World Cup especially has this issue because the refs all come from different leagues around the world, each with their own skill levels and play styles. The technology helps to a degree, especially around more concrete rules like offside, but this will never fully go away, no matter how much process, people or technology is applied.