Abstract: A computer includes a processor and a memory, and the memory stores instructions executable by the processor to extract a feature of an object viewable in a scene captured by a camera at a first perspective. The instructions can also be to transform the scene from the first perspective to a second perspective based on a parameter generated responsive to (a) a reconstruction of the scene from the first perspective based on the scene from the second perspective, and (b) an adjustment of the parameter to minimize differences between the extracted feature and a representation of the extracted feature reconstructed based on the second perspective. The instructions can also be to determine a depth of the extracted feature with respect to the camera based on the parameter and to determine the pose of the object based on the determined depth.

Abstract: A robot can be moved in a structure that includes a plurality of downward-facing cameras, and, as the robot moves, upward images can be captured with an upward-facing camera mounted to the robot. Downward images can be captured with the respective downward-facing cameras. Upward-facing camera poses can be determined at respective times based on the upward images. Further, respective poses of the downward-facing cameras can be determined based on (a) describing motion of the robot from the downward images, and (b) the upward-facing camera poses determined from the upward images.

Abstract: A computer includes a processor and a memory, and the memory stores instructions executable by the processor to receive at least one image frame from at least one camera, the at least one image frame showing a vehicle; determine at least one baseline pixel coordinate within one image frame for the vehicle; initialize a plurality of initial poses for the vehicle in a preset pattern; for each initial pose, determine a respective final pose by minimizing a reprojection error between the at least one baseline pixel coordinate and at least one respective estimated pixel coordinate, the at least one respective estimated pixel coordinate resulting from reprojecting the vehicle to pixel coordinates in the one image frame; and select a first final pose from the final poses, the first final pose having the lowest minimized reprojection error of the final poses.