Fast tracking system for multi-colored pie-shaped markers

In this study, we develop a real-time high-speed color vision system to track multi-colored pie-shaped markers in 512×512 images at 2000 fps. Our color vision system has six cell-based labeling circuits that can calculate the 0th and 1st moment features of color-labeled regions during a single scan of a 512×512 image divided into 4096 8×8 cells. Our system examines the geometric distribution of five color regions in each pie-shaped marker using their 0th and 1st moment features, and it can simultaneously extract the unique marker codes, locations, and orientations of multiple pie-shaped markers in a 512×512 image at 2000 fps. To evaluate the performance of our system, we performed several experiments to track multi-colored pie-shaped markers printed on high-speed rotating objects.