[nathanww]

Wow, that's a nice frame rate on that camera.

One thing that you might want to think about implementing is "predictive" tracking--essentially, when the target goes out of frame, instead of just giving up the system calculates the last known vector of the object and then tries to align itself based on that vector and get the object back in frame. This solved a lot of our target-locking problems.

Also, how are you planning on implementing obstacle avoidance/path finding?