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Hi Jean,
can you please try Blob detection? As it seems the objects are quite differentiable by their edges. So you could try Blob and after then you could find the COG (Centre of Gravity) and can prceed as per requirement.
This link may by helpful. Check it!
http://answers.opencv.org/question/4699/how-can-i-find-the-centroid-of-the-largest/
