An encoder includes a base portion, a scale portion that is provided to be relatively rotatable with respect to the base portion, and has a plurality of marks, an imaging element that is disposed in the base portion, and images the marks, and an estimation portion that performs template matching on a captured image in the imaging element by using a reference image, in which the plurality of marks include a first mark and a second mark, and the estimation portion counts the number of pixels of the imaging element corresponding to a rotation angle of the scale portion with respect to the base portion until a position of the second mark is detected from detection of a position of the first mark, and performs calibration on the basis of the counted number of pixels and the rotation angle.

An encoder includes a base portion, a scale portion that is provided to be relatively rotatable with respect to the base portion, and has a plurality of marks, an imaging element that is disposed in the base portion, and images the marks, and an estimation portion that performs template matching on a captured image in the imaging element by using a reference image, in which the plurality of marks include a first mark and a second mark, and the estimation portion counts the number of pixels of the imaging element corresponding to a rotation angle of the scale portion with respect to the base portion until a position of the second mark is detected from detection of a position of the first mark, and performs calibration on the basis of the counted number of pixels and the rotation angle.

An apparatus for directing a connection element is provided. The apparatus includes a robotic element for manipulating the connection element and a computer vision system communicatively coupled to the robotic element. The computer vision system includes one or more processors configured to: receive a first frame representing an environment at a first time, the environment at the first time comprising marker light of a first mode and other light; receive a second frame of the environment at a second time, the environment at the second time comprising marker light of a second mode and the other light; compare the first frame to the second frame to determine a difference in lighting in the environment between the first time and the second time; and differentiate the marker light of the first mode and the marker light of the second mode from the other light based on the determined difference.