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The following example shows how a combination of color range finder, Maximum-Filter and Segment tracker can be used to align Robotino with two work pieces lying on the ground.

At program start Robotino is at position 1 and then moves to the final position 3. Below you see images taken from Robotino camera at the three positions.

At startup the work piece nearest to Robotino (a) is at the image's right border. The distance of work piece (a) to the image center causes a movement of Robotino in y-direction, so that work piece (a) moves to the image center.

A rotational movement decreases the x-distance of the two work pieces.

The image processing and the movement is done by the following Robotino View program.

By clicking on the function blocks you will see further information about the blocks function and parameters. The whole example can be found at examples/colortracking.rvw2