The resulting pictures from the cmucameras where of very poor resolution.  The colors were not very stable and we couldn’t make out any shapes.  The next step with the cmucam is to increase the resolution in hope that it will be enough for our purposes.  I have already bought a higher resolution sensor (OV7620) and plan to use it with the cmucam boards that I already have.  There is a comment on the cmucam website that gives a hint of were to start.  I’ll probably get back to this at the end of the year.