Abstract: One embodiment of the invention determines position of an object with respect to an original location. A first relative position of the first object with respect to a second object in a first scene is computed using a current first image of the first object and a second image of the second object provided by at least first and second image sensors. The current first image in the first scene is matched with a next first image of the first object in a second scene. The second scene contains a third object having a third image. A second relative position of the third object with respect to the second object in the second scene is computed using the third image and the next first image.