1. In an electronic device comprising an imaging camera coupled to at least one processor and a datastore, a method comprising: determining, by the at least one processor, a first two-dimensional (2D) feature descriptor from a first image captured by an imaging camera in a first pose at a time of capture of the first image, the first pose including a first observation direction of the imaging camera; and storing, at the datastore, a 3D feature descriptor having a plurality of entries, each entry configured to store a corresponding 2D feature descriptor, and wherein a first entry of the plurality of entries stores the first 2D feature descriptor and a representation of the first pose of the imaging camera; wherein storing the 3D feature descriptor comprises indexing the first 2D feature descriptor in the plurality of entries of the 3D feature descriptor based on the first observation direction; and wherein the representation of the first pose further includes at least one of: a representation of a weather condition at the time of capture of the first image; and a representation of an ambient light condition at the time of capture of the first image.