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Re: Vision tracking
Interesting. I haven't done this (robot not yet built. we only have one), but I've been thinking about ways to do this.
If you know the side and top length of the vision tracking box, you can use the known ratio of the side/top to determine the angle at which you are to the baskets. Then, using the side length, you can determine the distance you are to the baskets. Using this information, you pretty much have all you need.
Of course, if your camera height is significantly different from the target height, you'd have to account for that too (the side length will seem slightly less than it actually is)
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