BEARING ONLY SLAM WITH CAMERAS AS LANDMARKS

A system comprises a computer including a processor and a memory, and the memory including instructions such that the processor is programmed to calculate, at a server, a distance between a fixed camera disposed within an environment and a vehicle traversing the environment based on at least two image frames captured by the fixed camera, wherein the at least two image frames depict the vehicle at different image coordinates; determine a position of the fixed camera based on the distance and vehicle distance measurements measured by a vehicle sensor; and generate a map representing the environment based on the position of the fixed camera and the vehicle distance measurements.