If you want to know what I'm talking about, it's this!
[Aaron Christophel] took a project that was done with a RasPi and camera, and subbed in a cellphone, Bluetooth modems, and Arduino. The vision is done on the phone, coded up in Droidscript (JS dialect targeting Android OS). The phone talks serial via Bluetooth to an Arduino that drives the servos that make it go.
[RÖB] and [Aaron] note that Droidscript is a friendly stepping-stone to Android-flavored Java, so learning it isn't a waste of your time if you want to start off quick on the phone side. Now [Aaron] uses the SDK directly.