A system includes a camera assembly designed to capture image data at a plurality of focal lengths and a computer in communication with the camera assembly. The computer has a processor and a memory storing instructions executable by the processor to receive first image data captured by the camera assembly at a first focal length and receive second image data captured by the camera assembly at a second focal length, the second focal length greater than the first focal length. The instructions include instructions to actuate a cleaning system based on the first image data captured at the first focal length and the second image data captured at the second focal length.