diff --git a/y2023/localizer/localizer.cc b/y2023/localizer/localizer.cc
index d0daa7b..32f5604 100644
--- a/y2023/localizer/localizer.cc
+++ b/y2023/localizer/localizer.cc
@@ -294,6 +294,12 @@
   builder.add_implied_robot_y(Z(Corrector::kY));
   builder.add_implied_robot_theta(Z(Corrector::kTheta));
 
+  Eigen::AngleAxisd rvec_camera_target(
+      Eigen::Affine3d(H_camera_target).rotation());
+  // Use y angle (around vertical axis) to compute skew
+  double skew = rvec_camera_target.axis().y() * rvec_camera_target.angle();
+  builder.add_skew(skew);
+
   double distance_to_target =
       Eigen::Affine3d(H_camera_target).translation().norm();