1. A method of tracking a mobile device, comprising: receiving image information associated with at least one image captured by at least one camera of a mobile system in a real environment, generating a first geometrical model of at least part of the real environment based on data acquired by at least one sensor of the mobile system, which is different from the mobile device, tracking the mobile device based on the image information associated with the at least one image, and at least partially according to the first geometrical model, by determining at least one parameter of a pose of the mobile device relative to the real environment.