CVHEXBOT is a Controller For 6 Legged Robot Using OpenCV for Computer Vision.  This is project is in progress, so some modification should be expected to make it work on your system.  The Computer Vision loop is written in C++ using QT.  The Kinematics is Controlled by a fork of PoMoCo for ArcBotics Hexy.  This controller could be easily modified to provide the high level control loop for any automated camera or robot.  This project was started to fulfill an undergraduate computer vision class in the department of Mechanical Engineering at the University of Minnesota Duluth.