[SoftwareBug2.0]

I'm also not sure that you will find vision processing useful yet. If someone had given you a sensor last year that told you exactly where every tote on the field was relative to your robot how useful would it have been to you? If you're just emerging from the stage where it was a struggle to get a robot on the floor I suspect the answer would be "not very".

However, if you do have a bunch more people it might be possible to develop both your computer vision skills and the capabilities needed to take advantage of them at the same time. I'd have some people study controls and others study search algorithms. That way when you find out you want to go someplace 5 feet ahead and 3 to the right you can both plan a path to get there and a way to carry it out.