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I think that this should be fairly simple and tons of guides out there would help you but the steps to take in a nutshel are

1. Load an image from the robots integrated camera
2. Convert the image to grayscale and apply histogram equalization to cover for lighting differences
3. Now perform OTSU based thresholding, which will seperate between the white floor and the black line
4. Apply a thinning / skeletization algorithm to find the line which you need to follow

Cheers!