1. A system configured to enable three-dimensional localization and mapping; the system comprising: a mobile device comprising: an inertial measurement unit; and a three-dimensional image capture device; and a computing device comprising a processor programmed to: receive a first set of inertial measurement information from the inertial measurement unit; determine a first current position and orientation of the mobile device based on a defined position and orientation of the mobile device and the first set of inertial measurement information; receive three-dimensional image data of the environment from the three-dimensional image capture device; determine a second current position and orientation of the mobile device based on the received three-dimensional image data and the first current position and orientation of the mobile device; and generate a three-dimensional representation of an environment with respect to the second current position and orientation of the mobile device.