1. A computer-implemented method, comprising: obtaining, by one or more computing devices, location data indicative of a location of a mobile device, the location data determined from one or more motion sensors associated with the mobile device and a sparse point cloud acquired by the mobile device; obtaining, by the one or more computing devices, depth data acquired by the mobile device, the depth data indicative of the location of one or more surfaces proximate the mobile device, the depth data acquired by the mobile device using one or more depth sensors; identifying, by the one or more computing devices, one or more candidate images from a geographic information database, the one or more candidate images being identified based at least in part on the location data; and registering, by the one or more computing devices, a first image captured by the mobile device with a second image that is one of the one or more candidate images based at least in part on one or more of the location data and the depth data acquired by the mobile device.