CMUcam1

h1. Gallery

h3. Here are more photos of the CMOS camera and the CMUcam1 board:

!http://cmucam.org/attachments/311/camfrontleft.jpg! !http://cmucam.org/attachments/312/camrearangle.jpg!

h3. The following images were taken by CMUcam1 indoors and outdoors: 

!http://cmucam.org/attachments/313/indoors.jpg! !http://cmucam.org/attachments/314/outdoors.jpg!

h3. This next CMUcam1 image is shown in color and then as separate R, G and B bands: 

!http://cmucam.org/attachments/315/colorscolor.jpg! !http://cmucam.org/attachments/316/colorsbands.jpg!

h3. This next set of CMUcam1 images are examples of how of our [[Downloads#Java Interface Program|Java Interface Program]] can be used to display the color tracking output from the CMUcam1:

!http://cmucam.org/attachments/317/elmo_bmp_gallery.jpg! !http://cmucam.org/attachments/318/elmo_rgb_gallery.jpg! !http://cmucam.org/attachments/319/hand_bmp_gallery.jpg! !http://cmucam.org/attachments/320/hand_rgb_gallery.jpg!

h3. Here is the B2Bot, a robot with the CMUcam1 on a servo head, two DC motors and a custom controller called Cerebellum:

!http://cmucam.org/attachments/321/camb2front.jpg! !http://cmucam.org/attachments/322/camb2side.jpg! !http://cmucam.org/attachments/324/camb2top.jpg!

h3. This is the MiniBot, a 2-servo CMUcam1 Cerebellum Robot that is less than 5 inches cubed:

!http://cmucam.org/attachments/325/mbot_elmo.jpg! !http://cmucam.org/attachments/326/mbot_front.jpg! !http://cmucam.org/attachments/327/mbot_side.jpg!

h3. The first picture below shows a 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. 

!http://cmucam.org/attachments/338/servobot.jpg! !http://cmucam.org/attachments/336/mbot3dangle.jpg! !http://cmucam.org/attachments/337/mbot3dside.jpg!

h3. It is easy to program a robot to follow colorful objects using the CMUcam1's output. In fact, if you click "here":http://cmucam.org/attachments/download/328/mbot3d.zip 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":http://cmucam.org/attachments/330/b2botball.mpeg 

* "MPEG of the MiniBot tracking Elmo":http://cmucam.org/attachments/333/minibotelmo.mpeg 

* "MPEG of the MiniBot3D tracking with pan and tilt":http://cmucam.org/attachments/332/mbot3delmo.mpeg 

* "MPEG of the ServoBot tracking an orange object":http://cmucam.org/attachments/335/servobotorange.mpeg 

* "MPEG of the ServoBot tracking a blue object":http://cmucam.org/attachments/334/servobotblue.mpeg 

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:

* "Cool Video":http://cmucam.org/attachments/331/coolvideo.mpeg

h3. Here are links to other pages and projects which describe robots which use the CMUcam1:

* "PIC and Handyboard CMUcam1 Code":http://www-2.cs.cmu.edu/~illah/ROBOCODE/index.html

* "Barney a line following robot":http://www.andrew.cmu.edu/~agr/projects/barney

* "The IRIS Security Project at the University of Alabama in Huntsville":http://cmucam.org/attachments/339/IRIS%20Project.zip

* "Table tennis playing augmented reality system designed by students at RPI":http://cmucam.org/attachments/340/Table%20Tennis.pdf