Robotic arm detection in space with image recognition made in Linux with the Hough circles method

This paper presents a method to recognize a robotic arm in space using the Hough circles method. The robotic arm has colored bottle stoppers glued at the joints, which are recognized with color filtering. After this step, the biggest colored spot is detected and marked using the Hough circle method. The joints are numbered, this way each joint´s position is known. The joints can be united with lines and this way a skeleton of the robotic arm can be drawn which can be loaded in a PC to create a control application.