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:
- MPEG of the B2Bot chasing a large yellow ball
- MPEG of the MiniBot tracking Elmo
- MPEG of the MiniBot3D tracking with pan and tilt
- MPEG of the ServoBot tracking an orange object
- MPEG of the ServoBot tracking a blue object
Here is a link to 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: