The AVRcam version 1.1 is a small, low-cost image-processing engine intended to bring a truly affordable and extensible vision platform to a multitude of developers. The AVRcam provides the following capabilities:
-Track up to 8 different objects at 30 frames/sec -User-defined color map to recognize up to 8 different colors -Real-time statistics provided for tracked objects (number of objects, color, bounding box coordinates) -User-interface provided through a standard UART (TTL or RS232 levels) that performs auto baud-rate detection to support the following baud rates: 115.2 Kbps, 57.6 Kbps, 38.4 Kbps, 19.2 Kbps, and9.6 Kbps -Low power (the entire system draws 5 V at 57 mA running at full speed) -Small size (the system measures 2.4" x 1.9") with mounting holes in all four corners -Open-source embedded software licensed under the GNU GPL -Simple in-system programmability with standard Atmel STK200/300 10-pin programming cable (free space available for custom development: ~4K program space, ~300 bytes RAM, and ~464 bytes EEPROM) -Backwards-compatibility with the CMUcam camera module (OV6620)
In addition, a PC application called AVRcamVIEW was developed to support the AVRcam, allowing the user to test and calibrate the system under different conditions. AVRcamVIEW uses the serial port on a PC to communicate with the AVRcam, and provides the following capabilities:
-Take full-color snapshots (176 x 144 pixels) with the system and save/display the images (both raw Bayer data and interpolated data) -Easily create a color map of colors to track based on a snapshot (just click on the colors of interest and add them to the color map) -Adjust the precision of each tracked color (i.e. provide a range of acceptable R-G-B values for each color), allowing the user to adjust the color map to the available lighting conditions -Display the real-time tracking results of each tracked object (with color and bounding box information) -Record and timestamp all communications with the AVRcam to evaluate its performance under different conditions (outputs both text and XML file formats for later processing) -Record an entire tracking session for playback and analysis at a later time -Open-source PC software licensed under the GNU GPL -Test the system out in any OS supported by Java 1.4 (Windows and Linux are currently supported)
The goal with the AVRcam was to develop a low-cost, easy-to-use, yet capable vision system that would be of benefit to many different types of developers. All of the developed software is being made available under the GNU GPL in the hopes that people will develop/improve/enhance the system with new and exciting features. Whether you're a student or a researcher, I think you'll find the AVRcam to be a cool system that is just waiting for your imagination.
The AVRcam hardware is now available for purchase through my website,. Complete systems start at under $100 USD. If you already have the OV6620 camera module (i.e., if you purchased the CMUcam that uses this camera), complete AVRcam systems without the camera can be purchased for under $50 USD. Check out for the more details. Finally, there is a forums section available for discussing technical details of both the AVRcam as well as the AVRcamVIEW PC application at
Thanks for reading, and I hope that you find the system useful! John Orlando