Algorithm 1 Color Blob Detection.

Require: Real time RGB image;      the hue value of the ROI (region of interest);      the hue section

1:While feed new frame do 2: if processing then continue 3: else 4:   perform the down sampling step of the Gaussian pyramid construction 5:   convert the value of RGB into the HSV color space 6:   get binary image A(1 if the value is included in the hue section and 0 otherwise) 7:   dilate the binary image A (morphological processing) into image B 8:   retrieve contours from the binary image B using the algorithm Border Following 9:   if the area of the region defined by the contour >50 pixels then 10:     show the contour 11:   end if 12: end if 13: process is finished 14:end while