CMVision logo

The CORAL Group's Color Machine Vision Project

Project Goals
To create a simple, robust vision system suitable for real time robotics applications. The system aims to perform global low level color vision at video rates without the use of special purpose harware.
Status
We now have a mailing list on FreeLists.org. Please consider joining if you want to learn more about CMVision.
Version 2.1 is now is now available: CMVision2.1a.tgz. Version 2 allows arbitrary thresholds using a subsampled version of the entire joint histogram (i.e. a subsampled 3D matrix). Other than different thresholds however, much of the core interface is intact, though it has now been recoded to take advantage of templates, allowing easier extension for particular projects without the need to edit the library code directly. This release is covered under the GPL.
News
8-Feb-2004 CMVision was mentioned in the links to outside software on Darpa's grand challenge website. CMVision was aimed primarily at vision indoors with semi-controlled lighting, but I'm happy to see it show up wherever people think there is a use for it. Thresholding is often very application and environment specific, while the other operations fit in to a much broader class of vision tasks including outdoor vision. Thus the routines for run length encoding and connected components seem to be used separately by a lot of people. That makes me happy too.
30-Nov-2003 Support for CMVision 1.x has been added to the Player/Stage system. It is a portable networked multiagent robot simulator.
30-March-2002 A beta for Version 2.0 is now available: CMVision2.0-beta1.tgz. This new version allows arbitrary thresholds using a subsampled version of the entire joint histogram, and uses templates entensively allowing easier extension for particular projects without the need to edit the library code directly.
6-December-2000 Version 1.2 is now available. (cmvision-1.2.0.tgz, cmvision-1.2.0.zip, online source) Average color, density merging, and dual threshold support has been added.
30-October-2000 We presented a paper on CMVision at IROS-2000. (PDF)
6-June-2000 Version 1.1 is now available. (cmvision-1.1.0.tgz, cmvision-1.1.0.zip, online source)
5-June-2000 My undergraduate thesis is now available documenting work in CMVision and several applications over the past year (940K compressed). It includes some documentation on the CMVision library. (Compressed Postscript, PDF)
14-April-2000 Version 1.0 has been released.
29-November-1999 The package has been finished and the general library includes all the attributes of the three versions used by our lab, except for density based merging, which was implemented as a hack and will be re-introduced in a more elegant way later.
1-October-1999 Web page created.
Contact
If you want to learn more about developing for CMVision, or want to add a link to this page for your project using CMVision, send mail to:
Pictures of CMVision in Action
Video image after capture. Video image after classification.
Video image after capture Image after threshold classification
Color histogram and threshold.
Histogram of the above video image, with the yellow color threshold outlined.
Links