The goal of the CMUcam project is to provide simple vision capabilities to small embedded systems in the form of an intelligent sensor. The CMUcam3 extends upon this idea by providing a flexible and easy to use open source development environment that complements a low cost hardware platform. The CMUcam3 is an ARM7TDMI based fully programmable embedded computer vision sensor. The main processor is the NXP LPC2106 connected to an Omnivision CMOS camera sensor module. Custom C code can be developed for the CMUcam3 using a port of the GNU toolchain along with a set of open source libraries and example programs. Executables can be flashed onto the board using the serial port with no external downloading hardware required.
Features

Fully open source and programmable using GCC

CIF resolution (352x288) RGB color sensor

Open source development environment for Windows and Linux

MMC/SD flash slot with FAT16 driver support

Four-port servo controller

Image processing rate of 26 frames per second

Lua light-weight language interpreter for rapid prototyping

Software JPEG compression

Basic image manipulation library

Arbitrary image clipping

Image downsampling

Threshold and convolution functions

RGB, YCrCb and HSV color space

CMUcam2 emulation

User defined color blobs

Frame differencing

Mean and variance data collection

Raw images dumps over serial

Histogram generation

B/W analog video output (PAL or NTSC)

FIFO image buffer for multiple pass hi-res image processing

Wireless Mote networking interface (802.15.4)

Tmote Sky / Telos Connection

virtual-cam for prototyping on the PC

CMUcam3-Frame-Grabber for viewing images on the PC