Gentleman, after playing with the CMUCAM2 I have discovered what a great piece of kit this is. While working at the AIR FORCE RESEARCH LABORATORY I had attempted to track a laser dot using two webcams and a stereo vision algorithm. Ultimately, I ran into trouble due to automation issues. With the CMUCAM2 and its color tracking these issues can be solved.
Mainly for Kevin here, but I am open to other input: I am attempting to leverage some of the new PIC 18F microprocessors to perform the stereo triangulation of the 2 Mx My values received when tracking a color. Most of the work has already been done at:
http://www.vision.caltech.edu/bougue.../example5.html
concerning Camera Calibration (accounting for Lens Distortion). The tough part is actually computing the stereo_trinagulation algorithm. There is a lot of floating point math involved. I highly recommend using an offboard processor for this. After doing an initial feasibility investigation I don't see this being a problem, especially concerning the 50 FPS of the CMUCAM2.
Kevin, maybe we could coordinate on adding a stereo vision controller to the CMUCAM2's next year?
