Localization for mobile devices

A method comprising:

• determining, based on motion data captured using one or more motion sensors, a coarse localization, wherein the coarse localization includes a first estimate of position of an electronic device including the one or more motion sensors;
• obtaining one or more feature point maps by transmitting the coarse localization to a server and receiving the one or more feature point maps from the server, wherein the one or more feature point maps are associated with a position corresponding to the coarse localization and the one or more feature point maps from the server include a plurality of feature point maps received in succession that have been prioritized by the server based on distance from the position corresponding to the coarse localization;
• determining, based on images captured using one or more image sensors of the electronic device, a fine localization pose by localizing into a feature point map of the one or more feature point maps, wherein the fine localization pose includes a second estimate of position and an estimate of orientation;
• generating, based on the fine localization pose, a virtual object image including a view of a virtual object;
• and
• displaying the virtual object image.

A non-transitory computer-readable storage medium comprising executable instructions that, when executed by a processor, facilitate performance of operations comprising:

• determining, based on motion data captured using one or more motion sensors, a coarse localization, wherein the coarse localization includes a first estimate of position;
• obtaining one or more feature point maps by transmitting the coarse localization to a server and receiving the one or more feature point maps from the server, wherein the one or more feature point maps are associated with a position corresponding to the coarse localization and the one or more feature point maps from the server include a plurality of feature point maps received in succession that have been prioritized by the server based on distance from the position corresponding to the coarse localization;
• determining, based on images captured using one or more image sensors, a fine localization pose by localizing into a feature point map of the one or more feature point maps, wherein the fine localization pose includes a second estimate of position and an estimate of orientation;
• generating, based on the fine localization pose, a virtual object image including a view of a virtual object;
• and
• displaying the virtual object image.