Described herein are systems and methods of determining a pose of a camera within a vehicle scene. In one embodiment, a method includes the initial step of capturing an image of the vehicle scene from the camera. At step, reference data indicative of the vehicle scene is loaded, the reference data includes positions and orientations of known features within the vehicle scene. Next, at step, the geometric appearance of one or more of the known features is identified within the image. Finally, at step, the three dimensional position and orientation of the camera relative to the known features identified in step c) is determined from the geometric appearance, and a pose of the camera within the vehicle scene is calculated.