One of the most common job a robot is required to do is navigating an environment. This application let you specify some target points (with colors) and the Wheelphone will navigate the environment looking for these targets sequentially while avoiding obstacles. It has two modules to avoid the obstacles: the first is using the robot's front proximity sensors and the second using the camera (optical flow).
Blob detection is performed using the OpenCV library.
How to interact with the application: add at least two targets and then tap on "start". This makes the robot go between all the targets in its list, while avoiding the obstacles.
More information about this application, how to use it and the source code are available in the Wheelphone wiki http://www.gctronic.com/doc/index.php/Android_software#Wheelphone_Navigator.