The advent and subsequent popularity of low cost, low power CMOS vision sensors enables us to integrate processing logic on the camera chip itself, thereby creating so-called smart sensors. They have an on-chip SIMD data processing array controlled by an o#-chip controller. Smart sensors can execute low-level image processing routines as soon as one or more image lines are converted; they do not have to wait for the whole image. High level image processing like feature extraction and object detection and tracking can be performed with a separate powerful o#-chip processor