## Introduction

Let’s do a summary of what we have done so far:

- COT: colour thresholding. We separated yellow objects from the rest.
- BLED: blob edge detection. We retrieved the bottom edges of blobs (pawns).
- T: transformation. We transformed the image’s pixels into game field points (aka. pixels to meters).

And the last step CID: Circles Detection.

As you may have already noticed, pawns and tower of pawns are in fact circles when viewed from above. Therefore, the bottom edges we found with BLED are also circles’ segments when transformed into game field coordinates (step T). This is the property we’re exploiting below.