A new paper by David Maiwand of the CMU Robotics Institute describes a vision-based localization and system identification method use with the RHex hexapod robot. System identification is the process of fitting a mathematical model to the visually observed data. The system relies on a YUV422 320x240 pixel camera. The system was implemented in C++. The paper describes the hardware, software, and algorithm in great detail. Some of the related source code can be found on David's website.