1. A method for positioning a two-dimensional (2D) image using a textured three-dimensional (3D) model of a region of space, comprising: obtaining a textured 3D model that represents a region of space; acquiring a 2D image that represents at least a portion of the region of space; determining, with respect to the textured 3D model, an initial pose for the acquired 2D image; obtaining a second 2D image from the textured 3D model based, at least in part, on the initial pose; aligning the acquired 2D image with the second 2D image to obtain a new estimated pose; and positioning the acquired 2D image with respect to the textured 3D model based, at least in part, on the new estimated pose.