In 2013, we have a Kinect sensor on the robot for auto-aiming (software is driven by RoboRealm running on a netbook). It worked well during practice (driver only have to hold a button to line up autonomously for the Full Court Shot and once the shooter is at the right speed, it fires.)
Unfortunately, sunlight caused problems to the infra-red camera (too bright). We eventually replaced it with a simple Axis Camera.
Distance sensing in indoor environment is very impressive though.
610's 2013 robot video:
https://www.youtube.com/watch?v=FsFT4Wk54V0