diff --git a/sources/meta-srobo/recipes-robot/kit-ui/kit-ui_2023.2.0.bb b/sources/meta-srobo/recipes-robot/kit-ui/kit-ui_2023.3.0.bb
similarity index 86%
rename from sources/meta-srobo/recipes-robot/kit-ui/kit-ui_2023.2.0.bb
rename to sources/meta-srobo/recipes-robot/kit-ui/kit-ui_2023.3.0.bb
index 15ced6d..1f5bcf5 100644
--- a/sources/meta-srobo/recipes-robot/kit-ui/kit-ui_2023.2.0.bb
+++ b/sources/meta-srobo/recipes-robot/kit-ui/kit-ui_2023.3.0.bb
@@ -8,7 +8,7 @@ SRC_URI = " \
         file://lighttpd.conf \
         "
 
-SRC_URI[sha256sum] = "f3adc0841e93b3d93a6b61c5406510300e615e6f9c7aed676b87ea1d10c4e137"
+SRC_URI[sha256sum] = "05f1dbf7233b7629802fc213046a0df0276abd4fa82ce462d0a48f6a1c697cb8"
 
 S = "${WORKDIR}"
 
diff --git a/sources/meta-srobo/recipes-robot/python-j5-zoloto/python3-j5-zoloto_0.5.0.bb b/sources/meta-srobo/recipes-robot/python-j5-zoloto/python3-j5-zoloto_0.5.0.bb
deleted file mode 100644
index b5bfd83..0000000
--- a/sources/meta-srobo/recipes-robot/python-j5-zoloto/python3-j5-zoloto_0.5.0.bb
+++ /dev/null
@@ -1,17 +0,0 @@
-SUMMARY = "j5 integration for Zoloto computer vision"
-DESCRIPTION = "j5 integration for Zoloto computer vision"
-HOMEPAGE = "https://github.com/j5api/j5-zoloto"
-LICENSE = "MIT"
-LIC_FILES_CHKSUM = "file://LICENSE;md5=44a99382609e909183f51320bcee1127"
-
-SRCREV = "1dee81326e6680503090552f7c9c47b37aaeea2d"
-SRC_URI = "git://github.com/j5api/j5-zoloto;protocol=https;branch=main"
-
-S = "${WORKDIR}/git"
-
-inherit python_poetry_core
-
-RDEPENDS:${PN} = "${PYTHON_PN}-zoloto"
-
-BBCLASSEXTEND = "native nativesdk"
-
diff --git a/sources/meta-srobo/recipes-robot/python-sr-robot3/python3-sr-robot3_2023.1.0.bb b/sources/meta-srobo/recipes-robot/python-sr-robot3/python3-sr-robot3_2023.2.0.bb
similarity index 78%
rename from sources/meta-srobo/recipes-robot/python-sr-robot3/python3-sr-robot3_2023.1.0.bb
rename to sources/meta-srobo/recipes-robot/python-sr-robot3/python3-sr-robot3_2023.2.0.bb
index 73f977f..22626f4 100644
--- a/sources/meta-srobo/recipes-robot/python-sr-robot3/python3-sr-robot3_2023.1.0.bb
+++ b/sources/meta-srobo/recipes-robot/python-sr-robot3/python3-sr-robot3_2023.2.0.bb
@@ -4,14 +4,14 @@ HOMEPAGE = "http://github.com/srobo/sr-robot3"
 LICENSE = "MIT"
 LIC_FILES_CHKSUM = "file://LICENSE;md5=1892732acd90517c8febc2b852fcbec3"
 
-SRCREV = "db376c68e1ab40b468c34146b7e59fded88cec15"
+SRCREV = "a13c51d9664f3a1941e7f46c6889e95a25598f65"
 SRC_URI = "git://github.com/srobo/sr-robot3;protocol=https;branch=main"
 
 S = "${WORKDIR}/git"
 
 inherit python_poetry_core
 
-RDEPENDS:${PN} = "${PYTHON_PN}-pyserial ${PYTHON_PN}-j5 ${PYTHON_PN}-j5-zoloto ${PYTHON_PN}-astoria ${PYTHON_PN}-paho-mqtt"
+RDEPENDS:${PN} = "${PYTHON_PN}-pyserial ${PYTHON_PN}-j5 ${PYTHON_PN}-april-vision ${PYTHON_PN}-astoria ${PYTHON_PN}-paho-mqtt"
 
 BBCLASSEXTEND = "native nativesdk"
 
diff --git a/sources/meta-srobo/recipes-robot/python3-april-vision/python3-april-vision_1.0.0.bb b/sources/meta-srobo/recipes-robot/python3-april-vision/python3-april-vision_1.0.0.bb
new file mode 100644
index 0000000..06c82b2
--- /dev/null
+++ b/sources/meta-srobo/recipes-robot/python3-april-vision/python3-april-vision_1.0.0.bb
@@ -0,0 +1,14 @@
+SUMMARY = "An AprilTag marker detection library"
+DESCRIPTION = "An AprilTag marker detection library"
+HOMEPAGE = "https://github.com/WillB97/april_vision"
+LICENSE = "MIT"
+LIC_FILES_CHKSUM = "file://LICENSE;md5=166254bc339a21e92d852d180a9063cc"
+
+SRC_URI[sha256sum] = "ca1af02526c516650a37a12b08dc18b476e829fe54ad8d690473b029972f1af3"
+
+PYPI_PACKAGE = "april_vision"
+inherit pypi setuptools3
+
+RDEPENDS:${PN} = "${PYTHON_PN}-pyapriltags ${PYTHON_PN}-pyquaternion ${PYTHON_PN}-numpy opencv"
+
+BBCLASSEXTEND = "native nativesdk"
diff --git a/sources/meta-srobo/recipes-robot/python3-pyapriltags/python3-pyapriltags_3.3.0.post2.bb b/sources/meta-srobo/recipes-robot/python3-pyapriltags/python3-pyapriltags_3.3.0.post2.bb
new file mode 100644
index 0000000..866b731
--- /dev/null
+++ b/sources/meta-srobo/recipes-robot/python3-pyapriltags/python3-pyapriltags_3.3.0.post2.bb
@@ -0,0 +1,32 @@
+SUMMARY = "Python bindings for the Apriltags library"
+DESCRIPTION = "Python bindings for the Apriltags library"
+HOMEPAGE = "https://github.com/WillB97/pyapriltags"
+LICENSE = "MIT"
+LIC_FILES_CHKSUM = "file:///${S}/pyapriltags-${PV}.dist-info/LICENSE.md;md5=859bf09146db781f61937e279299e0b2"
+
+BBCLASSEXTEND = "native nativesdk"
+
+SRC_URI = " \
+    https://files.pythonhosted.org/packages/ee/2b/9386f775396c370f7881ba2c91769d845160e66f5a1720170b39da546227/pyapriltags-3.3.0.post2-py3-none-manylinux2014_aarch64.whl;downloadfilename=pyapriltags-${PV}-py3-none-manylinux2014_aarch64.zip;subdir=${BP} \
+"
+SRC_URI[sha256sum] = "8ae61edead3f14edb5658b061a510c48986a0c86994a9859d168a8005f0d6246"
+
+inherit python3-dir
+
+do_unpack[depends] += "unzip-native:do_populate_sysroot"
+
+DEPENDS += "python3"
+RDEPENDS:${PN} = "${PYTHON_PN}-numpy"
+
+FILES:${PN} += "\
+    ${libdir}/${PYTHON_DIR}/site-packages/pyapriltags \
+    ${libdir}/${PYTHON_DIR}/site-packages/pyapriltags-${PV}.dist-info \
+"
+
+do_install() {
+    install -d ${D}${libdir}/${PYTHON_DIR}/site-packages/pyapriltags
+    install -d ${D}${libdir}/${PYTHON_DIR}/site-packages/pyapriltags-${PV}.dist-info
+
+    cp -R --no-dereference --preserve=mode,links -v ${S}/pyapriltags/* ${D}${libdir}/${PYTHON_DIR}/site-packages/pyapriltags
+    install -m 644 ${S}/pyapriltags-${PV}.dist-info/* ${D}${libdir}/${PYTHON_DIR}/site-packages/pyapriltags-${PV}.dist-info/
+}
diff --git a/sources/meta-srobo/recipes-robot/python3-zoloto/python3-zoloto_0.10.0+srobo.bb b/sources/meta-srobo/recipes-robot/python3-zoloto/python3-zoloto_0.10.0+srobo.bb
deleted file mode 100644
index bddb241..0000000
--- a/sources/meta-srobo/recipes-robot/python3-zoloto/python3-zoloto_0.10.0+srobo.bb
+++ /dev/null
@@ -1,17 +0,0 @@
-SUMMARY = "A fiducial marker system powered by OpenCV - Supports ArUco and April"
-DESCRIPTION = "A fiducial marker system powered by OpenCV - Supports ArUco and April"
-HOMEPAGE = "https://github.com/srobo/zoloto"
-LICENSE = "BSD-3-Clause"
-LIC_FILES_CHKSUM = "file://LICENSE;md5=bfd7580e6f0deacd183d33dd0ee386d8"
-
-SRCREV = "a9586685b18f2f473849d9838c5578fea41ea9ab"
-SRC_URI = "git://github.com/srobo/zoloto;protocol=https;branch=master"
-
-S = "${WORKDIR}/git"
-
-inherit setuptools3
-
-RDEPENDS:${PN} = "opencv ${PYTHON_PN}-pyquaternion ${PYTHON_PN}-numpy ${PYTHON_PN}-cached-property"
-
-BBCLASSEXTEND = "native nativesdk"
-
diff --git a/srobo-config/local.conf b/srobo-config/local.conf
index e9de800..3e85625 100644
--- a/srobo-config/local.conf
+++ b/srobo-config/local.conf
@@ -25,7 +25,7 @@
 #MACHINE ?= "qemux86"
 #MACHINE ?= "qemux86-64"
 #
-# There are also the following hardware board target machines included for 
+# There are also the following hardware board target machines included for
 # demonstration purposes:
 #
 #MACHINE ?= "beaglebone-yocto"
@@ -82,12 +82,12 @@ MACHINE ??= "raspberrypi4-64"
 #
 # The distribution setting controls which policy settings are used as defaults.
 # The default value is fine for general Yocto project use, at least initially.
-# Ultimately when creating custom policy, people will likely end up subclassing 
+# Ultimately when creating custom policy, people will likely end up subclassing
 # these defaults.
 #
 DISTRO ?= "poky"
 # As an example of a subclass there is a "bleeding" edge policy configuration
-# where many versions are set to the absolute latest code from the upstream 
+# where many versions are set to the absolute latest code from the upstream
 # source control systems. This is just mentioned here as an example, its not
 # useful to most new users.
 # DISTRO ?= "poky-bleeding"
@@ -237,7 +237,7 @@ BB_DISKMON_DIRS ??= "\
 # By default native qemu will build with a builtin VNC server where graphical output can be
 # seen. The line below enables the SDL UI frontend too.
 PACKAGECONFIG:append:pn-qemu-system-native = " sdl"
-# By default libsdl2-native will be built, if you want to use your host's libSDL instead of 
+# By default libsdl2-native will be built, if you want to use your host's libSDL instead of
 # the minimal libsdl built by libsdl2-native then uncomment the ASSUME_PROVIDED line below.
 #ASSUME_PROVIDED += "libsdl2-native"
 
@@ -296,4 +296,4 @@ IMAGE_ROOTFS_EXTRA_SPACE = "2097152"
 # Useful tools to put in the image
 IMAGE_INSTALL:append = " nano vim"
 
-SROBO_VERSION = "2023.1.0"
+SROBO_VERSION = "2023.2.0"