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Real-time detection of colored objects in multiple camera streams with off-the-shelf hardware components

Christoph H. Lampert; Jan Peters
In: Journal of Real-Time Image Processing, Vol. 7, No. 1, Pages 31-41, Springer, 2012.


We describe RTblob, a high speed vision system that detects objects in cluttered scenes based on their color and shape at a speed of over 800 frames/s. Because the system is available as open-source software and relies only on off-the-shelf PC hardware components, it can provide the basis for multiple application scenarios. As an illustrative example, we show how RTblob can be used in a robotic table tennis scenario to estimate ball trajectories through 3D space simultaneously from four cameras images at a speed of 200 Hz.

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