A computing device is programmed to generate a plurality of raw 3D point clouds from respective sensors having non-overlapping fields of view, scale each of the raw point clouds including scaling real-world dimensions of one or more features included in the respective raw 3D point cloud, determine a first transformation matrix that transforms a first coordinate system of a first scaled 3D point cloud of a first sensor to a second coordinate system of a second scaled 3D point cloud of a second sensor, and determine a second transformation matrix that transforms a third coordinate system of a third scaled 3D point cloud of a third sensor to the second coordinate system of the second scaled 3D point cloud of the second sensor. The computing device is programmed, based on the first and second transformation matrices, upon detecting an object in a first or third camera field of view, determine location coordinates of the object relative to a coordinate system that is defined based on the second coordinate system; and output the determined location coordinates of the object.
