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Originally Posted by Jared341
Having illuminated targets does not solve the problem that Don mentions. The retroreflective targets where just as easy to track (if not moreso) than self-illuminated targets...but in either case there is always the possibility that something off in the distance will be look the "same" to your vision system (in color if not in shape/size).
An opaque top backboard would have partially addressed this, and it's not like the audience seated behind the ends of the field was able to see anything anyhow.
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I agree on the opaque backboard, but have to disagree about lit targets. You are neglecting the inverse square relationship between light intensity and distance. A reflective target forces the light to have to travel twice as far to reach the camera than a lit target (from robot to target and back to robot vs from target to robot), not to mention the fact that some of the light hitting the reflective tape will be scattered. Your target, being on the field, would almost surely be much closer to the camera than any other lighting in the venue making light from that target appear brighter than anything else. With a lit target, you could tune your camera to pick up only the brightest objects (your illuminated target) while ignoring most everything else. I would take a lit target in an arena filled with LED signs over retroreflective tape any day.