I've developed a commercial system for doing color thresholding and blob tracking called ACTS which is sold by ActivMedia . These color regions are then tracked as blobs and statistics, such as area, bounding box and centroid, are computed for each blob. Currently, ACTS is capable of tracking 32 individual color channels simultaneously at greater than 30 fps on a Linux Pentium 160Mhz. ACTS runs on any i386 machine with a bt848 compatible framegrabber. Currently, both linux and Windows versions are available.
Users can train color channels in one of two different ways.
First, they can select individual pixels of color from an image by clicking on the EZ-Train window directly. This allows someone to put a colored object in front of a camera, view the object in the EZ-Train window, and select the object directly. Secondly, each individual color lookup table can be manipulated directly using a Manual Training facility. The ACTS EZ-Train interface. I've most recently been involved with a project to develop a distributed team of robots for surveillance and reconnaissance applications.