Camera pose relative to overhead image

Abstract

A computer includes a processor and a memory, and the memory stores instructions executable by the processor to generate an overhead feature map from an overhead image of a geographic area; generate an observed ground-view feature map from a ground-view image captured by a camera within the geographic area, the camera oriented at least partially horizontally while capturing the ground-view image; for each of a plurality of candidate poses of the camera, project the overhead feature map to a ground view defined by the respective candidate pose, resulting in a projected ground-view feature map for each candidate pose; for each projected ground-view feature map, determine a feature difference between the observed ground-view feature map and that projected ground-view feature map; and determine an estimated pose of the camera based on the feature differences.