openCV: Solve a line maze and track an object

Using openCV (from a video imput): 1- solve a maze composed of black lines on white background, for example when apply houglines most of lines are detected correctly because the maze are in controlled conditions. 2- Measure how much time an object employs to solve it. The client have an image to show a example of the labyrinth, in our tests houglines does most of the work. At all crossings there is a mark, openCV must know that the correct path is given by this little mark. Start and finish will have a red mark. - In the 4 corners can be put a mark to help openCV to locate. - All marks are 5 centimeters long. Please read the project first and write the word "Understood". Also write your steps and suggestions to complete the project with a short description of what you understood.