Image analysis is used to map objects in an arrangement. For example, images of a retail shelf are used to map items for sale on the retail shelf A first vector can used to identify a relative position of a first item on a shelf to a shelving diagram, and a second vector can be used to identify a relative position of a second on the shelf to the shelving diagram, using locations of optical codes (e.g., barcodes). Absolute positions can be calculated. In some configurations, multiple images having different fields of view are matched to an overview image.