1. A method comprising: receiving, from an image capture device, a first image frame of a sequence of image frames; estimating, at a processor, a camera pose corresponding to the first image frame by comparing the first image frame to a second image frame, wherein the second image frame precedes the first image frame in the sequence of image frames; and estimating, at the processor, a refined camera pose corresponding to the first image frame by comparing the first image frame to a keyframe, wherein the keyframe corresponds to a particular image frame that precedes the second image frame in the sequence of image frames.