Gallery

Here are more photos of the CMOS camera and the CMUcam1 board:

The following images were taken by the CMUcam1 indoors and outdoors:

This next CMUcam1 image is shown in color and then as separate R, G and B bands:

This next set of CMUcam1 images are examples of how of our java interface program can be used to display the color tracking output from the CMUcam1:

Here is the B2Bot, a robot with the CMUcam1 on a servo head, two DC motors and a custom controller called Cerebellum:

This is the MiniBot, a 2-servo CMUcam1 + Cerebellum robot that is less than 5 inches cubed:

The first picture below shows the ServoBot, a CMUcam1 directly controlling a hobby servo. The rest of the pictures show the MiniBot3D, which uses 3 servos to control not just pan but also tilt.

It is easy to program a robot to follow colorful objects using the CMUcam1’s output. In fact, if you click here you can download the C code we used to program the PIC chip that is controlling the CMUcam1 on the MiniBot3D.

The movies below show off our prototype CMUcam1 robots at play:

The B2Bot chasing a large yellow ball.

The MiniBot tracking Elmo.

The MiniBot3D tracking with pan and tilt.

The ServoBot tracking an orange object.

The ServoBot tracking a blue object.

Here is a cool video edited together by Anthony Rowe of a number of CMUcam1 based robots, including “Barney” a cool line following robot with which he and Alok Ladsariya won the 2002 Mobot competition:

A montage of CMUcam1-based robots.

Here are links to other pages and projects which describe robots which use the CMUcam1:

• PIC and Handyboard CMUcam1 code

• Barney a line following robot

• The IRIS security project at the University of Alabama in Huntsville

• Table tennis playing augmented reality system designed by students at RPI