I'll look into the getting the old ArduEye code working on a ESP32 with one of Adafruit's TTL Serial JPEG Camera modules.

Another thing I want to look into in training a small NeuroNet that can run on the ESP32 to do Optical Flow. 

For the NN I'll train it on artificial data to get the full 6DOF delta between the frames, probably in the form on a transformation matrix as that should be the best form for the NN