1. A device to facilitate an augmented reality (AR)experience, the device comprising: a depth sensor; at least one processor; at least one memory comprising instructions configured to cause the at least one processor to cause the device to perform a method comprising: receiving depth frame data acquired using the depth sensor, the depth frame data comprising distances from the depth sensor to surfaces in a real-world environment; determining a final pose, wherein determining the final pose comprises iteratively performing, for at least two iterations, a correspondence identification process and a pose determination process, wherein the correspondence identification process comprises: determining a plurality of correspondences between the frame data transformed using a pose and model data of the real-world environment, and wherein the pose determination process comprises: iteratively refining an intermediate pose determination, at least in part, by pruning candidate poses within a search space and considering poses from progressively smaller neighborhoods; and making the final pose available to an augmented reality application.