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You don't need to know the underlying math for CV in FRC; it mostly requires fairly simple operations and there are several tools that hide the nuts and bolts away to let you focus on the operations themselves instead of all the code needed to run them together. You can try checking out GRIP (documentation here). I haven't touched it in a while but as long as you have a webcam or a set of example images it should be easy to set up and learn with
Try out OpenCV and Kaggle for basics on image manipulation and data science: https://opencv.org/ and https://www.kaggle.com/