Thank you, the image size is only 128x96 or 12288 pixels. It does not matter how long the operation takes. I was thinking the robot could take 1 snapshot, process that and determine position, move, take another shot, move forward again, etc. I have thought of using a yellow filter and will do so but I know the white lines on the court will cause a problem. Anyone have any raw circular detection code laying around, that's all I really want.