diff --git a/y2020/vision/camera_reader.cc b/y2020/vision/camera_reader.cc
index ed2b4b9..d6f3716 100644
--- a/y2020/vision/camera_reader.cc
+++ b/y2020/vision/camera_reader.cc
@@ -19,6 +19,8 @@
 DEFINE_string(config, "config.json", "Path to the config file to use.");
 DEFINE_bool(skip_sift, false,
             "If true don't run any feature extraction.  Just forward images.");
+DEFINE_bool(ransac_pose, false,
+            "If true, do pose estimate with RANSAC; else, use ITERATIVE mode.");
 
 namespace frc971 {
 namespace vision {
@@ -436,9 +438,27 @@
     cv::Mat R_field_camera_vec, R_field_camera, T_field_camera;
 
     // Compute the pose of the camera (global origin relative to camera)
-    cv::solvePnPRansac(per_image_good_match.training_points_3d,
-                       per_image_good_match.query_points, CameraIntrinsics(),
-                       CameraDistCoeffs(), R_camera_field_vec, T_camera_field);
+    if (FLAGS_ransac_pose) {
+      // RANSAC computation is designed to be more robust to outliers.
+      // But, we found it bounces around a lot, even with identical points
+      cv::solvePnPRansac(per_image_good_match.training_points_3d,
+                         per_image_good_match.query_points, CameraIntrinsics(),
+                         CameraDistCoeffs(), R_camera_field_vec,
+                         T_camera_field);
+    } else {
+      // ITERATIVE mode is potentially less robust to outliers, but we
+      // found it to be more stable
+      //
+      // TODO<Jim>: We should explore feeding an initial estimate into
+      // the pose calculations.  I found this to help guide the solution
+      // to something hearby, but it also can lock it into an incorrect
+      // solution
+      cv::solvePnP(per_image_good_match.training_points_3d,
+                   per_image_good_match.query_points, CameraIntrinsics(),
+                   CameraDistCoeffs(), R_camera_field_vec, T_camera_field,
+                   false, CV_ITERATIVE);
+    }
+
     CHECK_EQ(cv::Size(1, 3), T_camera_field.size());
 
     // Convert to float32's (from float64) to be compatible with the rest