Robot Control For 6 Legged Robot Using OpenCV for Computer Vision.  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.