The formation of defects, due to drying, in robocasted ceramic objects is an important issue arising from non-uniform shrinkage of the material during this step in the process. Common methods for shrinkage measurement are not well suited to the small size of robocasted cords or the complexity of robocasted objects. Innovative methods for shrinkage measurement were developed using non-destructive optical vision techniques with computer-controlled data acquisition, allowing measurement on millimetric cords and on specific zones of a product. The study of a single porcelain cord revealed an anisometric shrinkage related to the orientation of grains during extrusion. A differential shrinkage at the macroscopic scale was also measured on a robocasted object, indicating a moisture content gradient in the material. The methods presented in this paper are of particular relevance to real-time control of the drying process for robocasted objects.