1. A system comprising: an image sensor to acquire a plurality of images of at least a portion of an environment surrounding a robot; and a processor, operably coupled to the image sensor, to: translate each image in the plurality of images from a frame of reference of the image sensor to an allocentric frame of reference; identify a position, in the allocentric frame of reference, of an object appearing in at least one image in the plurality of images; and determine if the object appears in at least one other image in the plurality of images based on the position, in the allocentric frame of reference, of the object.