This thesis describes the design and implementation of software to create a Smart Camera system, which is intended to replace the current RoboRoos Vision System. The project was performed in partnership with Peter Wills  who designed the hardware. The RoboRoos team consists of soccer playing robots. The robots determine their position from data supplied from a PC, which is connected to an overhead camera through a frame grabber. The Smart Camera will replace the current camera, frame grabber and PC. The Smart Camera is based upon a Texas Instruments TMS320C6201 DSP, which is directly connected to a Photobit PB-300 CMOS image sensor.
Low level drivers were written to control the PB-300, serial port, EPP parallel port and flash ROM. Due to problems with hardware design and construction, the only driver tested was the PB-300 using a ‘C6201 evaluation board. A fuzzy image was read from the PB-300 but this was found to be due to a faulty PB-300 board, not faulty software.
The RoboRoos Vision System code was ported to the ‘C6201 platform. Benchmarks were performed to test the speed of processing using the ‘C6201 evaluation board. The current system processes frames at a rate of 16-25 frames per second. The ‘C6201 could only manage a frame rate of 1.6 frames per second.
Due to complications with design and construction of the hardware, the final Smart Camera system was not built, although quite a bit of software was tested on the ‘C6201 evaluation board. The poor performance of the ‘C6201 suggests a different processor should be considered if this project is to be continued in the future.