Determination of position from images and associated camera positions

A method comprising:

• receiving image data associated with a plurality of images of a scene;
• receiving position data associated with positions of a camera that captured the plurality of images;
• generating a track corresponding to a target object identified in at least one image of the plurality of images, the track generated based on image data of the plurality of images;
• identifying a first camera position corresponding to a first image of the plurality of images;
• identifying a relative position of the target object relative to the camera while the camera was capturing first image data corresponding to the first image, the relative position identified based on the first camera position, first image data corresponding to the first image, and the track;
• and
• outputting an indication of a global position of the target object based on the position data and the relative position of the target object.

A system comprising:

• a camera configured to generate image data associated with a plurality of images of a scene;
• a position receiver configured to generate position data associated with positions of the camera during image capture operations;
• and
• a processor configured to:
• generate a track corresponding to a target object identified in at least one image of the plurality of images, the track generated based on image data of the plurality of images;
• identify a first camera position corresponding to a first image of the plurality of images;
• identify a relative position of the target object relative to the camera while the camera was capturing first image data corresponding to the first image, the relative position identified based on the first camera position, first image data corresponding to the first image, and the track;
• and
• output an indication of a global position of the target object based on the position data and the relative position of the target object.