Arduino and OV7670 FIFO - tracking project

ov7670 FIFO camera module from ebay, connected to a custom build arduino board based on atmega 328p, basically a "cheap" version of arduino mini. The module use only 8 digital ports and all analog ports for this, still left available another 6 IO pins... It is able to track 1 color at 30 FPS @ 160 x 120 pixels, output on serial port @ 115.2 kbps. Can also track up to 16 blobs of a selected color @ 15 FPS. Can use any of the OV7670 or OV7725 FIFO modules from ebay or aliexpress. Here is connected through serial port to a small robot driven by an MBED microcontroller. Sorry for bad video quality but i'm using one hand to hold the camera (tablet) and also the code on the MBED is pretty raw and not optimized. http://thinksmallthings.wordpress.com/projects/camera-tracking-system/ Robot build: - tracks from Pololu - micrometal gearbox motors from Pololu - motor controller using L298N H bridge from Farnell and a Mbed board - Multipurpose board from Tamiya - servo brackets from Lynxmotion - servos from Aliexpress