diff --git a/y2017/vision/target_receiver.cc b/y2017/vision/target_receiver.cc
new file mode 100644
index 0000000..8cabe76
--- /dev/null
+++ b/y2017/vision/target_receiver.cc
@@ -0,0 +1,64 @@
+#include <netdb.h>
+
+#include "aos/common/logging/logging.h"
+#include "aos/common/logging/queue_logging.h"
+#include "aos/common/time.h"
+#include "aos/linux_code/init.h"
+#include "aos/vision/events/udp.h"
+#include "y2017/vision/vision.q.h"
+#include "y2017/vision/vision_data.pb.h"
+
+using aos::monotonic_clock;
+
+namespace y2017 {
+namespace vision {
+
+void ComputeDistanceAngle(const Target &target, double *distance,
+                          double *angle) {
+  // TODO: fix this.
+  *distance = target.y();
+  *angle = target.x();
+}
+
+}  // namespace vision
+}  // namespace y2017
+
+int main() {
+  using namespace y2017::vision;
+  ::aos::events::RXUdpSocket recv(8080);
+  char raw_data[65507];
+
+  while (true) {
+    // TODO(austin): Don't malloc.
+    VisionData target;
+    int size = recv.Recv(raw_data, sizeof(raw_data));
+    monotonic_clock::time_point now = monotonic_clock::now();
+    auto target_time = now -
+                       std::chrono::nanoseconds(target.send_timestamp() -
+                                                target.image_timestamp()) +
+                       // It takes a bit to shoot a frame.  Push the frame
+                       // further back in time.
+                       std::chrono::milliseconds(10);
+
+    if (!target.ParseFromArray(raw_data, size)) {
+      continue;
+    }
+
+    auto new_vision_status = vision_status.MakeMessage();
+    new_vision_status->image_valid = target.has_target();
+    if (new_vision_status->image_valid) {
+      new_vision_status->target_time =
+          std::chrono::duration_cast<std::chrono::nanoseconds>(
+              target_time.time_since_epoch())
+              .count();
+
+      ComputeDistanceAngle(target.target(), &new_vision_status->distance,
+                           &new_vision_status->angle);
+    }
+
+    LOG_STRUCT(DEBUG, "vision", *new_vision_status);
+    if (!new_vision_status.Send()) {
+      LOG(ERROR, "Failed to send vision information\n");
+    }
+  }
+}