Worked on the MissouriMRDT/Autonomy_Software repository to address a camera whitewashing issue affecting visual perception in autonomous systems. Developed and deployed a kernel-level update to the Aruco image processing pipeline, introducing ARUCO_TEST_KERNEL to replace ARUCO_SHARPEN_KERNEL_EXTRA. This change targeted image filtering behavior, improving marker detection reliability under varied lighting conditions and reducing the need for operator intervention. The work involved C++ programming and leveraged skills in computer vision and embedded systems, with careful validation in staging environments. The update enhanced the robustness of the perception pipeline, demonstrating a focused approach to bug fixing and clear commit traceability within the project.