Research

In this study, we developed a real-time high-speed color vision system to track multi-colored pie-shaped markers in 512×512 images at 2000 fps. Our color vision system has six cell-based labeling circuits that can calculate the 0th and 1st moment features of color-labeled regions during a single scan of a 512×512 image divided into 4096 8×8cells. Our system examines the geometric distribution of five color regions in each pie-shaped marker using their 0th and 1st moment features, and it can simultaneously extract the unique marker codes, locations, and orientations of multiple pie-shaped markers in a 512×512 image at 2000 fps. To evaluate the proposed system, we performed 2000 fps multi-color marker tracking of 512×512 pixel images on a rotating plane and a rotating can, on which multiple color markers were attached.