[dlavery]

A few items that you might want to consider before you go heading down too many blind alleys:

- There are three possible starting locations for your robot. Pick any of the three. You know what the field should look like from that vantage point.

- There are eight possible starting locations for the vision tetras. Those locations relative to the robot starting locations are known and fixed.

- The number of robot location/vision tetra position permutations is finite.

- The CMUcamII allows you to trim the field of view to a pre-defined area of the video frame, so extraneous items that are not of interest (ie. off-field items) can be ignored.

- For a given field of view, if two or more objects of the target color are in view and the CMUcamII is requested to locate the target, it will return the location (in X-Y coordinates within the frame) of the largest color blob of the desired color.

- For a set of given obejcts of the same size, closer objects will appear larger (duh!)

So you really have only one question to ask: can you use the camera to look from a given point toward another given point, and determine if the second point is occupied by a certain known object or not?

-dave