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Shape Finder Robot Problem...

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kad_911

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Hello, I have to make a robot that looks for shapes in the ground and follow them.

there are different shapes drawn in the ground. Ground color is white and the shape color is black. The robot has to find all the circles drawn in the ground. (there are 3 circles and random number of triangles and squares)

can you suggest a logic to find the circles?
IR sensors would work, but finding a circle will be chance; and even with a good logic, it would take a reasonable amount of time to find all 3. I need to find all the circles as fast as i can.

I thought of fixing a camera in front of the robot and somehow decode the image to find the locations of the circles. But I have no idea how to do that inside the robot. External links are not allowed.

Any ideas?
 

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