diff --git a/y2016/vision/target_receiver.cc b/y2016/vision/target_receiver.cc
new file mode 100644
index 0000000..d023ac8
--- /dev/null
+++ b/y2016/vision/target_receiver.cc
@@ -0,0 +1,97 @@
+#include <stdlib.h>
+#include <netdb.h>
+#include <unistd.h>
+
+#include <vector>
+#include <memory>
+
+#include "aos/linux_code/init.h"
+#include "aos/common/time.h"
+#include "aos/common/logging/logging.h"
+#include "aos/common/logging/queue_logging.h"
+#include "aos/vision/events/udp.h"
+
+#include "y2016/vision/vision.q.h"
+#include "y2016/vision/vision_data.pb.h"
+#include "y2016/vision/stereo_geometry.h"
+#include "y2016/constants.h"
+
+namespace y2016 {
+namespace vision {
+
+void Main() {
+  StereoGeometry stereo(constants::GetValues().vision_name);
+  LOG(INFO, "calibration: %s\n",
+      stereo.calibration().ShortDebugString().c_str());
+  VisionData left_target;
+  VisionData right_target;
+  // TODO(Brian): Having two sockets here like this doesn't work. They'll get
+  // out of sync.
+  ::aos::vision::RXUdpSocket left(8080);
+  ::aos::vision::RXUdpSocket right(8081);
+  char rawData[65507];
+  while (true) {
+    bool got_left = false;
+    bool got_right = false;
+    int recv = left.Recv(rawData, 65507);
+    if (left_target.ParseFromArray(rawData, recv)) {
+      LOG(DEBUG, "left_target: %s\n", left_target.ShortDebugString().c_str());
+      if (left_target.target_size() > 0) {
+        got_left = true;
+      }
+    } else {
+      LOG(WARNING, "left parse error\n");
+    }
+
+    recv = right.Recv(rawData, 65507);
+    if (right_target.ParseFromArray(rawData, recv)) {
+      LOG(DEBUG, "right_target: %s\n", right_target.ShortDebugString().c_str());
+      if (right_target.target_size() > 0) {
+        got_right = true;
+      }
+    } else {
+      LOG(WARNING, "right parse error\n");
+    }
+
+    if (got_left && got_right) {
+      const ::aos::vision::Vector<2> center0(
+          (left_target.target(0).left_corner_x() +
+           left_target.target(0).right_corner_x()) /
+              2.0,
+          (left_target.target(0).left_corner_y() +
+           left_target.target(0).right_corner_y()) /
+              2.0);
+      const ::aos::vision::Vector<2> center1(
+          (right_target.target(0).left_corner_x() +
+           right_target.target(0).right_corner_x()) /
+              2.0,
+          (right_target.target(0).left_corner_y() +
+           right_target.target(0).right_corner_y()) /
+              2.0);
+      double distance, horizontal_angle, vertical_angle;
+      stereo.Process(center0, center1, &distance, &horizontal_angle,
+                     &vertical_angle);
+      auto new_vision_status = vision_status.MakeMessage();
+      new_vision_status->left_image_timestamp = left_target.image_timestamp();
+      new_vision_status->right_image_timestamp = right_target.image_timestamp();
+      new_vision_status->left_send_timestamp = left_target.send_timestamp();
+      new_vision_status->right_send_timestamp = right_target.send_timestamp();
+      new_vision_status->horizontal_angle = horizontal_angle;
+      new_vision_status->vertical_angle = vertical_angle;
+      new_vision_status->distance = distance;
+      LOG_STRUCT(DEBUG, "vision", *new_vision_status);
+
+      if (!new_vision_status.Send()) {
+        LOG(ERROR, "Failed to send vision information\n");
+      }
+    }
+  }
+}
+
+}  // namespace vision
+}  // namespace y2016
+
+int main(int /*argc*/, char ** /*argv*/) {
+  ::aos::InitNRT();
+  ::y2016::vision::Main();
+}