1. A method for tracking a mobile device within a building, comprising determining a course position estimate of the mobile device using a positioning system, the course position estimate indicating a room of a plurality of rooms of the building in which the mobile device is located; capturing a live point cloud of surroundings of the mobile device using one or more sensors of the mobile device; accessing a portion of a pre-captured point cloud of the interior of the building that serves as a reference, the portion of the pre-captured point cloud corresponding to the indicated room; determining, by tracking software executing on the mobile device, an initial pose of the mobile device, based on a comparison of the live point cloud to a portion of the pre-captured point cloud corresponding to the indicated room; and determining, by the tracking software executing on the mobile device, updated poses of the mobile device when the mobile device is moved, based on further comparison of the live point cloud to the portion of the pre-captured point cloud corresponding to the indicated room.