Raspberry Pi camera module openCV object tracking and following self balancing robot

http://roboticssamy.blogspot.pt/

Vision:
Raspberry Pi model B
Raspberry Pi camera module
OpenCV

OpenCV working with Pi camera thanks to this great tutorial:
http://thinkrpi.wordpress.com/2013/05/22/opencv-and-camera-board-csi/
Thank you Pierre

Robot setup:
Carbon fiber chassis
2000 mAh 11.1V LiPo battery
PIC24 microcontroller
Murata ENC-03 gyro
MMA7361L accelerometer
NEMA17 step motors
RC 1/8 Buggy wheels

Link to description:

http://letsmakerobots.com/node/38610

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