A method for operating a vehicle including a vehicle sensing system includes generating a baseline image model of an cabin of the vehicle based on image data of the cabin of the vehicle generated by an imaging device of the vehicle sensing system, the baseline image model generated before a passenger event, and generating an event image model of the cabin of the vehicle based on image data of the cabin of the vehicle generated by the imaging device, the event image model generated after the passenger event. The method further includes identifying image deviations by comparing the event image model to the baseline image model with a controller of the vehicle sensing system, the image deviations corresponding to differences in the cabin of the vehicle from before the passenger event to after the passenger event, and operating the vehicle based on the identified image deviations.