At my old lab we built something similar (camera + ball + throwable) 12 years ago: http://www.ri.cmu.edu/pub_files/1999/5/ICRA_Cyclops_99.pdf http://www.ri.cmu.

At my old lab we built something similar (camera + ball + throwable) 12 years ago: http://www.ri.cmu.edu/pub_files/1999/5/ICRA_Cyclops_99.pdf http://www.ri.cmu.edu/pub_files/1999/5/ICRA_Cyclops_99.pdf Available electronic components back then were way larger than what's available today: we could only fit a single CCD camera in the ball. It did send a real-time video stream, though.