  This paper discusses the image processing and computer vision algorithms for
real time detection and tracking of a sample wheel of a vehicle. During the
manual tyre changing process, spinal and other muscular injuries are common and
even more serious injuries have been recorded when occasionally, tyres fail
(burst) during this process. It, therefore, follows that the introduction of a
robotic system to take over this process would be a welcome development. This
work discusses various useful applicable algorithms, Circular Hough Transform
(CHT) as well as Continuously adaptive mean shift (Camshift) and provides some
of the software solutions which can be deployed with a robotic mechanical arm
to make the task of tyre changing faster, safer and more efficient. Image
acquisition and software to accurately detect and classify specific objects of
interest were implemented successfully, outcomes were discussed and areas for
further studies suggested.
