Multi obstacle identification using image processing technique

Robotics technology has come out so far that it has necessitated the need of robots in almost every field. Machine vision is an identified field of research contributing to the success of robotic technology. Workspace cleaning robot extends this to yet another application of robotics with machine vision primarily focusing on obstacle detection and avoidance. This paper is an attempt to detect multiple objects, by tracing their outer boundaries by extending an already existing Moore Neighbor tracing method. The logic is successful in detecting the outer boundaries and is further needed for implementing the cellular decomposition of Boustrophedon algorithm which can be used for covering whole area.