I thought I would post this little LIDAR demo I whipped up. It’s fast enough to run on the roboRIO—the update rate is limited by how fast the LIDAR spins, not by the speed of the algorithm. We can get a very accurate measure of the power cell’s robot-relative position using this. Pointcloud smear is set up to be corrected with odometry from a V-SLAM camera fused with encoders.
This is mostly a fun proof of concept; if you want to replicate this then doing solvePNP on the ball is probably easier.