diff --git a/robot/vision.py b/robot/vision.py
index 8fe821c..057e0de 100644
--- a/robot/vision.py
+++ b/robot/vision.py
@@ -184,7 +184,9 @@ def detect(self, theta):
             x = dist * math.sin(angle)
             y = dist * math.cos(angle)
 
-            # TODO: Add to robot.x and robot.y
+            #Add to robot location to obstacle location
+            x = self.x + x
+            y = self.y + y
 
             # Round x and y to nearest ROUND_TO
             x = math.floor(x / self.ROUND_TO) * self.ROUND_TO