I'm really interested to hear more about your work too! I've had a few situations where IP cameras would have been ideal, but I dropped the idea after examining a handful because the firmware is invariably too awful to contemplate running.

Reading your later replies, I gathered you took a standard camera but wrote clean new firmware for it. Is the SoC on these devices supported by mainline tf-a, u-boot and kernels, or are you stuck on ancient manufacturer ('BSP') kernel forks and so on? What does the userspace you've put together look like?