diff --git a/y2023/vision/aprilrobotics.h b/y2023/vision/aprilrobotics.h
new file mode 100644
index 0000000..f36f3eb
--- /dev/null
+++ b/y2023/vision/aprilrobotics.h
@@ -0,0 +1,102 @@
+
+#include <string>
+
+#include "aos/events/event_loop.h"
+#include "aos/events/shm_event_loop.h"
+#include "aos/init.h"
+#include "aos/network/team_number.h"
+#include "aos/realtime.h"
+#include "frc971/vision/calibration_generated.h"
+#include "frc971/vision/charuco_lib.h"
+#include "frc971/vision/target_map_generated.h"
+#include "frc971/vision/target_mapper.h"
+#include "frc971/vision/vision_generated.h"
+#include "opencv2/core/eigen.hpp"
+#include "opencv2/imgproc.hpp"
+#include "third_party/apriltag/apriltag.h"
+#include "third_party/apriltag/apriltag_pose.h"
+#include "third_party/apriltag/tag16h5.h"
+#include "y2023/vision/calibration_data.h"
+
+DECLARE_int32(team_number);
+
+namespace y2023 {
+namespace vision {
+
+class AprilRoboticsDetector {
+ public:
+  AprilRoboticsDetector(aos::EventLoop *event_loop,
+                        std::string_view channel_name);
+
+  ~AprilRoboticsDetector();
+
+  void SetWorkerpoolAffinities();
+
+  std::vector<std::pair<apriltag_detection_t, apriltag_pose_t>> DetectTags(
+      cv::Mat image);
+
+ private:
+  void HandleImage(cv::Mat image);
+
+  flatbuffers::Offset<frc971::vision::TargetPoseFbs> BuildTargetPose(
+      const apriltag_pose_t &pose,
+      frc971::vision::TargetMapper::TargetId target_id,
+      flatbuffers::FlatBufferBuilder *fbb);
+
+  static const frc971::vision::calibration::CameraCalibration *
+  FindCameraCalibration(
+      const frc971::vision::calibration::CalibrationData *calibration_data,
+      std::string_view node_name) {
+    for (const frc971::vision::calibration::CameraCalibration *candidate :
+         *calibration_data->camera_calibrations()) {
+      if (candidate->node_name()->string_view() != node_name) {
+        continue;
+      }
+      if (candidate->team_number() != FLAGS_team_number) {
+        continue;
+      }
+      return candidate;
+    }
+    LOG(FATAL) << ": Failed to find camera calibration for " << node_name
+               << " on " << FLAGS_team_number;
+  }
+
+  static cv::Mat CameraIntrinsics(
+      const frc971::vision::calibration::CameraCalibration
+          *camera_calibration) {
+    cv::Mat result(3, 3, CV_32F,
+                   const_cast<void *>(static_cast<const void *>(
+                       camera_calibration->intrinsics()->data())));
+    result.convertTo(result, CV_64F);
+    CHECK_EQ(result.total(), camera_calibration->intrinsics()->size());
+
+    return result;
+  }
+
+  static cv::Mat CameraDistCoeffs(
+      const frc971::vision::calibration::CameraCalibration
+          *camera_calibration) {
+    const cv::Mat result(5, 1, CV_32F,
+                         const_cast<void *>(static_cast<const void *>(
+                             camera_calibration->dist_coeffs()->data())));
+    CHECK_EQ(result.total(), camera_calibration->dist_coeffs()->size());
+    return result;
+  }
+
+  apriltag_family_t *tag_family_;
+  apriltag_detector_t *tag_detector_;
+
+  const aos::FlatbufferSpan<frc971::vision::calibration::CalibrationData>
+      calibration_data_;
+  const frc971::vision::calibration::CameraCalibration *calibration_;
+  cv::Mat intrinsics_;
+  cv::Mat camera_distortion_coeffs_;
+
+  aos::Ftrace ftrace_;
+
+  frc971::vision::ImageCallback image_callback_;
+  aos::Sender<frc971::vision::TargetMap> target_map_sender_;
+};
+
+}  // namespace vision
+}  // namespace y2023