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Yoshi is an autonomous driving vehicle. It was built for a portuguese robotics festival: Robotica 2010. The goal was to build a vehicle that managed to drive itself through an obstacle ridden course. It manages to do so using *very cheap* webcams and visual recognition algorithms (an infrared sensor was also added amidst the competition). The servo and motor is controlled by a PIC that communicates with the laptop through an USB->serial cable. It contains 5 usb webcams, 3 for road and obstale detection, one for the lcd stop-light detection and the last one for vertical signal detection.