title: OpenCV based Labyrinth Maze solver
body: <p>I am building an automatic maze solver using the following as an inspiration:</p>
  
  <p><a href="http://www.youtube.com/watch?v=Prq78ctJ2Rk&amp;feature=related" rel="nofollow">http://www.youtube.com/watch?v=Prq78ctJ2Rk&amp;feature=related</a>
  I have built the maze control with steppers and I am using the following stepper motor control board:</p>
  
  <p><a href="http://www.sparkfun.com/products/10025" rel="nofollow">http://www.sparkfun.com/products/10025</a></p>
  
  <p>I am using a vision system to control the maze solver. I also found a link where this problem has been solved:</p>
  
  <p><a href="http://cse.logicol.org/?p=52" rel="nofollow">http://cse.logicol.org/?p=52</a></p>
  
  <p>They have used template matching to identify the ball. The team mentioned in the above link also uploaded a video where it looks like they have canny edge detection for finding the path and executing a PID algorithm.</p>
  
  <p><a href="http://www.youtube.com/watch?v=8b5ARjT22bg&amp;feature=player_embedded" rel="nofollow">http://www.youtube.com/watch?v=8b5ARjT22bg&amp;feature=player_embedded</a></p>
  
  <p>Now, I have also established template matching and edge detection in opencv. I have also established controls of my stepper via USB serial port. How do I implement the navigation algorithm? How do I implement the PID control? I know the concept of PID control theoretically but I just don't know to implement it using the information from the camera. I am just clueless about making the ball follow the line.</p>
  
  <p>Please find an attached image of the result I have obtained so far.</p>
  
  <p>Sai </p>