| Algorithm 2 Target Detection Algorithm | |
| 1. | for each image Imi |
| 2. | u=v=−1 |
| 3. | Imi=preprocess(Imi) |
| 4. | binaryImg= threshold (Imi, colorRange) |
| 5. | binaryImg=postProcessing(binaryImg) |
| 6. | [u,v]=findHoughCircleCenter(binaryImg) |
| 7. | if(u<1 OR v<1) |
| 8. | if(moment00(binaryImg)>0) |
| 9. | [u,v]=findCentroidOfBlob(binaryImg) |
| 10. | end if |
| 11. | end if |
| 12. | end for |
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