Paul Y. Oh
TRIPOD is free and open source software for rapidly developing computer vision applications. With such software, robot vision systems can be developed, tested and validated. This paper presents a step-by-step tutorial where live video is thresheld to display the corresponding binary image. This simple exercise serves to illustrate the realization of a robot vision system. A LEGO Mindstorms Vision Command module, which is a Logitech USB camera, is used. Platform development is in ANSI C/C$++$ on a Windows PC without low-level Windows programming.