A machine vision system for high speed object tracking using a moments algorithm

A system has been developed for tracking the motion of objects in two dimensions in real-time. The system consists of a conventional CCD camera linked to a transputer-based frame grabber and an array of nine transputers. A parallel moments algorithm is used to extract the co-ordinates of the object's centre of gravity and orientation at field rate, i.e. 60 Hz. Since the position data are made available in real-time—with a small time delay—the system has the potential for inclusion in a feedback loop. Results are presented for tracking the trajectory of a chocolate bar diverted by an air jet. The potential of the system for higher sampling rates—up to 200 Hz—is discussed.