[solomondg]

You're not going to be able to track the greyscale boulders, but the Pixy should be fine for stuff like the retroreflective tape on the goal. At least from our observations, the Pixy has a huge lack of contrast or color --- everything's pretty washed-out, so you'll only be able to do bright colors.

Fisheye shouldn't be that much of a problem. Worst case, you can use OpenCV to determine the distortion factors, then write a correction software-side.