Check out the downloads page for links to a CMUcam2 demo video as well as the manual and graphical user interface. For more information see the wiki.

The CMUcam2 has the following capabilities:

  • Track user defined color blobs at up to 50 frames per second (the frame rate depends on resolution and window size settings)
  • Track motion using frame differencing at 26 frames per second
  • Find the centroid of any tracking data
  • Gather mean color and variance data
  • Gather a 28 bin histogram of each color channel
  • Process horizontally edge filtered images
  • Transfer a real-time binary bitmap of the tracked pixels in an image
  • Arbitrary image windowing
  • Image down sampling
  • Adjust the camera's image properties
  • Dump a raw image (single or multiple channels)
  • Up to 176 x 255 resolution
  • Supports baud rates of: 115,200 57,600 38,400 19,200 9,600 4,800 2,400 1,200
  • Control 5 servo outputs
  • Slave parallel image processing mode off of a single camera bus
  • Automatically use servos to do two axis color tracking
  • B/W analog video output (NTSC or PAL, depending on camera module used)
  • Flexible output packet customization
  • Power down mode
  • Multiple pass image processing on a buffered image
  • Works with the newer OV7620 camera module
  • Backward compatible with the OV6620 camera module


This project was supported through the generosity of the NASA Ames Intelligent Systems Program and The Robotics Institute (established in 1979 to conduct basic and applied research in robotic technologies), part of the School of Computer Science, at Carnegie Mellon University.

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