1. An image-based method for tracking the location of a platform containing at least one image capturing device comprising: capturing a first image with said image capturing device; wherein said first image includes at least one object; moving said platform and capturing a second image with said image capturing device; wherein said second image includes said at least one object; capturing in said first image an image of a surface; capturing in said second image a second image of said surface; processing said plurality of images of said object and said surface using a combined feature based process and surface tracking process; and determining the location of said platform from the combined feature based process and surface tracking process.