diff --git a/y2016/vision/target_receiver.cc b/y2016/vision/target_receiver.cc
index d023ac8..b3c56ae 100644
--- a/y2016/vision/target_receiver.cc
+++ b/y2016/vision/target_receiver.cc
@@ -23,68 +23,92 @@
   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) {
+  VisionData left_target;
+  aos::time::Time left_rx_time{0, 0};
+
+  VisionData right_target;
+  aos::time::Time right_rx_time{0, 0};
+
+  ::aos::vision::RXUdpSocket recv(8080);
+  char rawData[65507];
+  bool got_left = false;
+  bool got_right = false;
+
+  while (true) {
+    // TODO(austin): Don't malloc.
+    VisionData target;
+    int size = recv.Recv(rawData, 65507);
+    aos::time::Time now = aos::time::Time::Now();
+
+    if (target.ParseFromArray(rawData, size)) {
+      if (target.camera_index() == 0) {
+        left_target = target;
+        left_rx_time = now;
+        got_left = true;
+      } else {
+        right_target = target;
+        right_rx_time = now;
         got_right = true;
       }
     } else {
-      LOG(WARNING, "right parse error\n");
+      LOG(ERROR, "oh noes: parse error\n");
+      continue;
+    }
+
+    if (now > left_rx_time + aos::time::Time::InMS(50)) {
+      got_left = false;
+    }
+    if (now > right_rx_time + aos::time::Time::InMS(50)) {
+      got_right = false;
     }
 
     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);
+      bool left_image_valid = left_target.target_size() > 0;
+      bool right_image_valid = right_target.target_size() > 0;
+
       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;
+      new_vision_status->left_image_valid = left_image_valid;
+      new_vision_status->right_image_valid = right_image_valid;
+      if (left_image_valid && right_image_valid) {
+        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);
+        // out of sync.
+        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);
+        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");
       }
     }
+
+    if (target.camera_index() == 0) {
+      LOG(DEBUG, "left_target: %s\n", left_target.ShortDebugString().c_str());
+    } else {
+      LOG(DEBUG, "right_target: %s\n", right_target.ShortDebugString().c_str());
+    }
   }
 }