Locating landers by panoramic horizon imaging Options

[lollipop]

Has anyone (for example the great Phil Stooke) ever described a procedure for establishing the location of a lander on a map or orbiter image by reference to peaks seen in horizon images taken by the lander?
This has proved to be a tricky one to search for on the forum although I know individual examples have been discussed both for MER and lunar landers. I thought of this while browsing an entirely different forum https://www.railforums.co.uk/threads/longes...ight-uk.136247/ where sightlines were being discussed, and posters were challenging the identity of horizon features seen from a known location, a sort of reverse problem to that faced on here.