Title:

  A Low Cost Embedded 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 low cost embedded vision
  system which can perform basic color blob tracking at 16.7 frames per
  second. This system utilizes a low cost CMOS color camera module and
  all image data is processed by a high speed, low cost
  microcontroller. This eliminates the need for a separate frame grabber
  and high speed host computer typically found in traditional vision
  systems. The resulting embedded system makes it possible to utilize
  simple color vision algorithms in applications like small mobile
  robotics where a traditional vision system would not be practical.