Before getting started, let's try to draw the application scheme and define the potential steps. We want to build a vision-enabled robot which can be controlled via a camera attached to the ceiling and, when we click on any point in the camera view, we want our robot to go to this specific point.
This operation requires a mobile robot that can communicate with the vision system. The vision system should be able to detect or recognize the robot and calculate the position and orientation of the robot. The vision system should also give us the opportunity to click on any point in the view and it should calculate the path and the robot movements to get to the destination. This scheme requires a communication line between the robot and the vision controller. In the following illustration, you can see the physical scheme of the application setup on the left hand side and the user application window on the right hand side:
After interpreting the application scheme, the next step is...