Camera tracking and following

[Quarkster]

The camera has a 54 degree horizontal field of view. You can use this to get an angle offset. It your camera can move independantly of the chassis, you can use an encoder or potentiometer to get an additional angle.

That, combined with stadiometric rangefinding, can allow you to setup a polar coordinate system. If you keep track of previous ranges and angles, you can get relative velocity and acceleration.