...
Use a telecentric lens to optically remove this effect.
Estimate height of objects (stereo vision or another sensor) and adjust for this in software.
Field hardening
The current prototype will need to be hardened and have electronics moved into a suitable IP rated mounting unit. Currently the Jetson is powered by a mains power, this needs to be switched over to DC power from the Amiga.
A screen to view and adjust the system systems in the field would also be beneficial.