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Shortest path in Blob: autonomous navigation


I'm trying to use SimpleCV with a car to perform autonomous navigation (on black tape lines on white floor) while avoiding obstacles (also black tape lines). So we realize that we can get the pixels of the image that correspond to the track by finding a blob that corresponds to the track the car is allowed to drive on. But does anyone know a good way of finding the shortest connected path between pixels in the blob? Is there any way we can easily extract all the pixels in the blob and then perhaps perform Dijkstra's algorithm on them?