How to track Stronghold high goalpost using vision system on your FRC robot. At the core, Stronghold goal is just a visual pattern. A semi-circular window with bricks around. There are reflective tape markers but we will not be using them in this tutorial. All human player needs to do is scan for the pattern, our brain is able to pick out this pattern, even among all the distraction.The question is, can computers do better? want to know keep reading.