1. A method comprising: collecting, by an end-user device, a depth map at a location in a path network; extracting, using a processor of the end-user device, two-dimensional feature geometries from the depth map; identifying a number of control points in the extracted feature geometries; calculating distances between the end-user device and the identified control points; receiving location reference information for each identified control point from an external database; and determining a geographic location of the end-user device in the path network through a multilateration calculation using the location reference information of the identified control points and the calculated distances between the end-user device and each identified control point.