Arduino, Raspberry Pi, and BeagleBone are wonderful platforms to use for DIY projects. If you are planning to build a robot with them, you can use the Pixy2 vision sensor to make your creation smarter. Pixy2 can learn to detect objects, track lines, and detect road signs.
The sensor is less than half the size of its predecessor and can processor images faster. It has a configuration app that runs on Windows, MacOS, and Linux devices. The software and hardware are open source.[where to find it]