Black Spot Firmware
basic version of the Black Spot firmware has been designed and implemented with the ability to track the motion of 27 markers during a typical scan scenario at 60 fps. Using a prediction algorithm, the maximum ROI size can be reduced from 70 by 70 pixels to 32 by 32 pixels. The firmware is designed to be compiled using a PC or the Blackfin DSP and the main algorithms can be tested using a PC. Decoupling of the firmware algorithms from the image sensor by way of an interface allows the software to be tested using test videos. Further development should include implementation of the algorithms identified in the future improvements section (Section 4.2.5).