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We have developed a visual servo system with 1ms visual feedback using a massively parallel processing vision system, and realized remarkably fast and smooth target tracking. We use a massively parallel processing vision system called SPE-256 in which processing elements are attached to photo-detectors. We utilize a SIMD architecture comprising of 16x16 processing elements (PEs) where each PE is 4-neighbor connected. Each PE is programmable and is capable of performing 8 bit serial arithmetic and logical functions and contains a 24 bit local memory. Therefore the system can perform a variety of image processing and visual data parallel algorithms. In the application of target tracking, our system can recognize the target and control the actuator in 1ms which is far beyond video rates. Moreover it can track the target even when it is moving quickly and unpredictably. http://www.k2.t.u-tokyo.ac.jp/vision/1msVisualFeedback/
