1. A method for determining a location comprising: identifying a first landmark in a first image obtained from an imaging device positioned at a first location, wherein the imaging device is in a first pose during a time that the first image is obtained; determining, using a processor, a first virtual two-dimensional image of a first view from a first viewpoint at the first landmark based, at least in part, on the first pose; estimating the first location based, at least in part, on the first virtual two-dimensional image; identifying a second landmark in a second image obtained from the imaging device positioned at the first location, wherein the imaging device is in a second pose during a time that the second image is obtained, and wherein the second pose is different from the first pose; and determining a second virtual two-dimensional image of a second view from a second viewpoint at the second landmark based, at least in part, on the second pose, wherein the estimating of the first location includes estimating the first location based, at least in part, on a matching of portions of the first virtual two-dimensional image with portions of the second virtual two-dimensional image.