Worked on the NUbots/NUbots perception stack, focusing on stability and maintainability through targeted improvements. Addressed a variable naming inconsistency by correcting the spelling of 'distortionCoefficients' across multiple files, reducing the risk of runtime errors and simplifying future maintenance. Enhanced the ball detection algorithm by implementing a cluster merging strategy, which improves localization accuracy and processing efficiency when multiple detections correspond to the same ball. All changes were fully traceable to specific commits for audit and review. Utilized C++, TypeScript, and algorithm design skills, demonstrating attention to detail and a methodical approach to both bug fixing and feature development.