The CMUcam4 is a fully programmable embedded computer vision sensor. The main processor is the Parallax P8X32A (Propeller Chip) connected to an OmniVision 9665 CMOS camera sensor module.

Full Documentation on the CMUcam4 Website:
http://www.cmucam.org/projects/cmucam4

Features

Fully open source and re-programmable using the Propeller Tool

• Arduino Shield Compatible
  • w/ Supporting Interface Libraries and Demo Applications for the Arduino and BASIC Stamp
• VGA resolution (640x480) RGB565/YUV655 color sensor
  • Image processing rate of 8 frames per second
  • Raw image dumps over serial or to flash card
    • (640:320:160:80)x(480:240:120:60) image resolution
    • RGB565/YUV655 color space
• Onboard Image Processing (QQVGA 160x120)
  • Track user defined color blobs in the RGB/YUV color space
  • Mean, median, mode and standard deviation data collection
  • Segmented (thresholded) image capture for tracking visualization (over serial or to flash card)
    • 80x60 image resolution
    • Monochrome color space
  • Histogram generation (up to 128 Bins)
  • Arbitrary image clipping (windowing)
• µSD/µSDHC flash card slot with FAT16/32 full file system driver support
  • w/ Directory and File manipulation
• I/O Interfaces
  • Two-port servo controller (pan and tilt w/ 1us resolution at a 40 Hz refresh rate)
    • Pan and/or Tit servo channels can be configured as GPIOs
  • Indicator user controllable LED (red) and power LED (green)
  • TTL UART (up to 115200 baud – 19200 baud by default)
• Monochrome baseband analog video output (NTSC/PAL) of 160x120 resolution for tracking visualization (segmented (thresholded) image w/ color centroid and bounding box overlay at 8 FPS)
• CMUcam4 GUI for viewing images on the PC

Download the feature list in PDF form here