1. A method for determining a location within a structure depicted by a first image, the method comprising: identifying one or more features in the first image; rendering, via a virtual camera, a second image of at least one location in a three-dimensional (3D) representation of the structure; matching, via a processor, the identified features in the image with one or more features in the second image of the 3D representation of the structure; and estimating a location in the structure depicted by the image based upon the matching features identified in the 3D representation.