Roads are used as a way of transportation and communication in every part of the world. Road markers are painted on the roads for safety, information and caution purposes. Road markers are mainly used to assist drivers with vital information and caution. The process of painting new and existing roadway markings (turn arrows, STOP messages, railroad crossings, etc.) is an important maintenance task. The Minnesota Department of Transportation (MN/DOT) estimates that over 75% of symbol and message painting is the repainting of existing markings . It would be extremely valuable for an automated painting system to have a vision guidance capability whereby an existing marker could be repainted accurately with little operator input. A vision system capable of identifying existing painted pavement markings and determining their coordinates, dimensions, location, and orientation would be a very useful tool. The information regarding the pavement markings could then be passed to a robotic painting device (currently under development) to enable it to accurately repaint the marking. This would significantly improve the capability of the device to repaint existing pavement markings. Eventual users of a device using this technology could be city, county, state, federal government agencies and private companies or contractors. It will allow improved safety, reduced cost and less time to maintain existing road markers as well as draw new ones.