Here’s Kieferbot being tracked through a camera:
It took a few iterations but I settled on matching the colour of the floor to create a floor mask, then findCountours to find the contours as a tree, and then searching the children of the root contours.
A day of highs and lows. Here’s Kieferbot still in teleop mode but now self contained:
The PinePhone is taking commands from a PS4 DualShock over Bluetooth using ds4drv and sending them to the IO board over serial.
As a winter project, I’m turning my PinePhone into an indoor robot. The Pinephone has everything needed for a decent stand-alone robot: plenty of CPU, a camera, gyro/accelerometor/compass, display, and it can run Debian.