| CPC G06T 7/74 (2017.01) [G06T 2207/20081 (2013.01)] | 20 Claims |
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1. A computer comprising a processor and a memory, the memory storing instructions executable by the processor to:
receive an image frame from a camera, the image frame showing a vehicle;
determine at least one baseline pixel coordinate within the image frame for the vehicle;
at a single time, initialize a plurality of initial poses for the vehicle in a preset pattern;
for each of the plurality of initial poses, 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 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.
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