Worked on the ECLAIR-Robotics/PCR_Automation repository to enhance AprilTag detection within a computer vision pipeline. Developed a feature using Python and OpenCV that outputs both the warped frame and the transformation matrix after tag detection, enabling seamless integration with downstream perception modules. The implementation included robust handling for scenarios where no tags are detected by returning None for both outputs, preventing errors in subsequent processing stages. This approach improved the end-to-end readiness of the perception pipeline, ensuring that downstream components receive consistent and reliable data. The work focused on practical integration and error handling rather than addressing bug fixes during this period.