paper: Zebravision 4.0 Goal Detection - Team 900

[OccamzRazor]

So I watched you guys practice and play at competition and I saw that you rarely missed if you decided to fire a boulder - your robot had lethal accuracy when there was no defender. I even saw small robots hit you and your turret would turn and you would score anyway.

My question is that with a defender in your way blocking your camera occasionally would you still be able to track the known location of the goal and fire? It seemed as though you could fire over most defenders even if they were 4ft 6in if you could track the location while they were blocking you and fire anyway. How did you combat camera obstruction?