A method includes capturing, via a camera that is inserted into a cavity, a first image of a surface defining the cavity and compressing the first image, using a compression algorithm, to generate a first feature vector. The method also includes identifying a second feature vector of a plurality of second feature vectors that best matches the first feature vector. The plurality of second feature vectors was generated by compressing second images of the surface using the compression algorithm. The second images were captured prior to insertion of the camera into the cavity and prior to capturing the first image. The method also includes generating, using the second feature vector, output indicating a position and/or an orientation of the camera as the camera captured the first image.