Cool - I look forward to seeing how well it works. I suspect the technique should scale up to higher weight/speeds if a bonus lens was stuck in front of the sensor (think fisheye), but that would be a bit fiddly to set up and might be too damage prone.

If you get it working on an antweight, Id be interested in giving it a go, though, if nobody else tries it first (or they do, and it works). Might be helpful in my plans for a self-built robotic vacuum cleaner, too (the ones you can buy cant do stairs, and I like a challenge).

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Fluppet