1. A computer-implemented method, comprising: accessing, by one or more computing devices, a first image of a scene captured from a perspective at or near ground level; accessing, by the one or more computing devices, a second image of the scene, the second image captured from an aerial perspective; projecting, by the one or more computing devices, an image plane of the first image to an image plane associated with the second image based at least in part on a depth map for the scene to transform the first image to a warped image, the warped image depicting a two-dimensional representation the scene from a perspective associated with the second image, the depth map being generated based at least in part on a point cloud derived at least in part from the first image of the scene; identifying, by the one or more computing devices, one or more feature matches between the warped image and the second image; and determining, by the one or more computing devices, a pose associated with the first image based at least in part on the one or more feature matches.