diff --git a/conf/modules/cv_colorfilter.xml b/conf/modules/cv_colorfilter.xml
new file mode 100644
index 0000000000..1e9316735c
--- /dev/null
+++ b/conf/modules/cv_colorfilter.xml
@@ -0,0 +1,32 @@
+<!DOCTYPE module SYSTEM "module.dtd">
+
+<module name="ColorFilter" dir="computer_vision">
+  <doc>
+    <description>ColorFilter</description>
+  </doc>
+
+  <settings>
+    <dl_settings>
+      <dl_settings NAME="ColorFilter">
+         <dl_setting var="color_lum_min" min="0" step="1" max="255" shortname="y_min" />
+         <dl_setting var="color_lum_max" min="0" step="1" max="255" shortname="y_max" />
+         <dl_setting var="color_cb_min"  min="0" step="1" max="255" shortname="u_min" />
+         <dl_setting var="color_cb_max"  min="0" step="1" max="255" shortname="u_max" />
+         <dl_setting var="color_cr_min"  min="0" step="1" max="255" shortname="v_min" />
+         <dl_setting var="color_cr_max"  min="0" step="1" max="255" shortname="v_max" />
+      </dl_settings>
+    </dl_settings>
+  </settings>
+
+  <depends>video_thread</depends>
+
+  <header>
+    <file name="colorfilter.h"/>
+  </header>
+
+  <init fun="colorfilter_init()"/>
+  <makefile>
+    <file name="colorfilter.c"/>
+  </makefile>
+</module>
+
diff --git a/sw/airborne/modules/computer_vision/colorfilter.c b/sw/airborne/modules/computer_vision/colorfilter.c
new file mode 100644
index 0000000000..0e4b6a0f59
--- /dev/null
+++ b/sw/airborne/modules/computer_vision/colorfilter.c
@@ -0,0 +1,61 @@
+/*
+ * Copyright (C) 2015
+ *
+ * This file is part of Paparazzi.
+ *
+ * Paparazzi is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 2, or (at your option)
+ * any later version.
+ *
+ * Paparazzi is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with Paparazzi; see the file COPYING.  If not, write to
+ * the Free Software Foundation, 59 Temple Place - Suite 330,
+ * Boston, MA 02111-1307, USA.
+ */
+
+/**
+ * @file modules/computer_vision/colorfilter.c
+ */
+
+// Own header
+#include "modules/computer_vision/cv.h"
+#include "modules/computer_vision/colorfilter.h"
+
+#include <stdio.h>
+
+// Filter Settings
+uint8_t color_lum_min = 105;
+uint8_t color_lum_max = 205;
+uint8_t color_cb_min  = 52;
+uint8_t color_cb_max  = 140;
+uint8_t color_cr_min  = 180;
+uint8_t color_cr_max  = 255;
+
+// Result
+int color_count = 0;
+
+// Function
+bool_t colorfilter_func(struct image_t* img);
+bool_t colorfilter_func(struct image_t* img)
+{
+  // Filter
+  color_count = image_yuv422_colorfilt(img,img,
+      color_lum_min,color_lum_max,
+      color_cb_min,color_cb_max,
+      color_cr_min,color_cr_max
+      );
+
+  return FALSE;
+}
+
+void colorfilter_init(void)
+{
+  cv_add(colorfilter_func);
+}
+
diff --git a/sw/airborne/modules/computer_vision/colorfilter.h b/sw/airborne/modules/computer_vision/colorfilter.h
new file mode 100644
index 0000000000..20854d457d
--- /dev/null
+++ b/sw/airborne/modules/computer_vision/colorfilter.h
@@ -0,0 +1,45 @@
+/*
+ * Copyright (C) 2015
+ *
+ * This file is part of Paparazzi.
+ *
+ * Paparazzi is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 2, or (at your option)
+ * any later version.
+ *
+ * Paparazzi is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with Paparazzi; see the file COPYING.  If not, write to
+ * the Free Software Foundation, 59 Temple Place - Suite 330,
+ * Boston, MA 02111-1307, USA.
+ */
+
+/**
+ * @file modules/computer_vision/colorfilter.h
+ */
+
+#ifndef COLORFILTER_CV_PLUGIN_H
+#define COLORFILTER_CV_PLUGIN_H
+
+#include <stdint.h>
+
+// Module functions
+extern void colorfilter_init(void);
+
+extern uint8_t color_lum_min;
+extern uint8_t color_lum_max;
+
+extern uint8_t color_cb_min;
+extern uint8_t color_cb_max;
+
+extern uint8_t color_cr_min;
+extern uint8_t color_cr_max;
+
+extern int color_count;
+
+#endif /* COLORFILTER_CV_PLUGIN_H */