Aruco Maze Outline Tracing Robustness Improvements

[acbuynak]

The initial implementation of the vision code requires all four Aruco markers to be found to allow the program to 'find' the board and proceed. If not found, that detection attempt fails and waits until the next detection attempt to find the board.

Proposed Features

• ability to identify maze board given a minimum of any two Aruco markers are found
• ability to handle affine transformations (ie, board rotated such that the some board corners are significantly deeper in than others)