Various examples are provided for object identification and tracking, traverse-optimization and/or trajectory optimization. In one example, a method includes determining a terrain map including at least one associated terrain type; and determining a recommended traverse along the terrain map based upon at least one defined constraint associated with the at least one associated terrain type. In another example, a method includes determining a transformation operator corresponding to a reference frame based upon at least one fiducial marker in a captured image comprising a tracked object; converting the captured image to a standardized image based upon the transformation operator, the standardized image corresponding to the reference frame; and determining a current position of the tracked object from the standardized image.