diff --git a/y2023/vision/aprilrobotics.cc b/y2023/vision/aprilrobotics.cc
index e694b5e..0102538 100644
--- a/y2023/vision/aprilrobotics.cc
+++ b/y2023/vision/aprilrobotics.cc
@@ -10,6 +10,11 @@
               "Minimum decision margin (confidence) for an apriltag detection");
 DEFINE_int32(pixel_border, 3,
              "Size of image border within which to reject detected corners");
+DEFINE_double(
+    max_expected_distortion, 0.0005,
+    "Maximum expected value for unscaled distortion factors. Will scale "
+    "distortion factors so that this value (and a higher distortion) maps to "
+    "1.0.");
 
 namespace y2023 {
 namespace vision {
@@ -153,11 +158,12 @@
   }
   avg_distance /= corners.size();
 
-  // Normalize avg_distance by dividing by the image size
+  // Normalize avg_distance by dividing by the image size, and then the maximum
+  // expected distortion
   double distortion_factor =
       avg_distance /
       static_cast<double>(image_size_.width * image_size_.height);
-  return distortion_factor;
+  return std::min(distortion_factor / FLAGS_max_expected_distortion, 1.0);
 }
 
 std::vector<AprilRoboticsDetector::Detection> AprilRoboticsDetector::DetectTags(