Self Balancing Robot Project (work in progress)

I started this project recently and there is no complete design yet.

The idea is to build a self balancing robot that can be controlled remotely in the initial phase and perhaps later I will try to add a computer vision so that it can perform some autonomous routines.

So far I used:
2x 17HS4401 Stepper Motor
2x 1/8 Buggy Wheel
8x M3x6 Hex Screw
4x M3x8 Hex Screw

Considering using:
Arduino Nano or STM32 controller for a stabilization and controlling motors
MPU-9250 gyroscope + accelerometer + magnetic field
A4988 Stepper Motor Driver
Raspberry Pi + Camera - main brain.
LiPo accu.