Title:

  A Simple Low Cost Color Vision System

Authors:

  Anthony Rowe, agr+@andrew.cmu.edu, Electrical and Computer Engineering 
  Charles Rosenberg, chuck+@cs.cmu.edu, Computer Science
  Illah Nourbakhsh, illah+@ri.cmu.edu, Robotics Institute
  Carnegie Mellon University, Pittsburgh, PA  15213 

Abstract:

  In this paper we describe a functioning prototype of a simple low
  cost system which we have constructed and can perform a simple color
  blob tracking task at 16.7 frames per second. This system utilizes a
  low cost CMOS color camera module which eliminates the need for a
  separate frame grabber and all processing is performed by a high
  speed, low cost microcontroller. The resulting system makes it
  possible to utilize simple color vision algorithms in applications,
  like small mobile robotics, where a traditional vision system
  consisting of a separate camera, frame grabber, and high speed
  computer would be prohibitive.

Keywords:

  vision system, low cost, color blob tracking