Detecting the Lego Roverbot

The yellow RCX brick of the Lego Roverbot is a nice property to it that makes it quite easy to detect. We can use the yellow RGBFilter to filter out all other colors but the brick color.

If we move the Roverbot around in terms of its orientation we notice that the yellow area widens and then narrows depending on what side of the RoverBot is visible to the camera. We are assuming the static camera viewing the Roverbot is tilted towards the ground at an angle where the sides of the Roverbot are the predominant yellow areas.

Seen below are a few more images from the Roverbot at different orientations.

Next we need to detect the size of the yellow area ....