A computer implemented method for determining position and orientation information of an augmented reality display device, comprising: identifying a map area associated with a current location of the augmented reality display device; identifying a matching keyframe associated with the map area; and determining a pose for the augmented reality display device with respect to a shared map area origin point; characterized in that the map area is identified at least by performing heuristic processing using location information received from one or more devices (810, 820), wherein performing heuristic processing using location information comprises: detecting one or more wireless signals originating from the one or more devices (810, 820); identifying location data corresponding to positions of the one or more devices (810, 820), the location data generated by global positioning systems associated with the one or more devices (810, 820), and the location data being transmitted wirelessly between the augmented reality display device and respective devices of the one or more devices (810, 820) using respective peer-to-peer communication protocols; determining a level of accuracy of the location data from at least one of the one or more devices (810, 820); estimating a minimum distance (811, 821) and a maximum distance (812, 822) between the augmented reality display device and the at least one of the one or more devices (810, 820) in which the wireless signal from the one or more devices (810, 820) can be detected; and determining at least one estimated region where the augmented reality display device is located in using the level of accuracy, the minimum distance (811, 821), and the maximum distance (812, 822) for at least one of the one or more devices (810, 820). identifying a map area associated with a current location of the augmented reality display device; identifying a matching keyframe associated with the map area; and determining a pose for the augmented reality display device with respect to a shared map area origin point; characterized in that the map area is identified at least by performing heuristic processing using location information received from one or more devices (810, 820), wherein performing heuristic processing using location information comprises: detecting one or more wireless signals originating from the one or more devices (810, 820); identifying location data corresponding to positions of the one or more devices (810, 820), the location data generated by global positioning systems associated with the one or more devices (810, 820), and the location data being transmitted wirelessly between the augmented reality display device and respective devices of the one or more devices (810, 820) using respective peer-to-peer communication protocols; determining a level of accuracy of the location data from at least one of the one or more devices (810, 820); estimating a minimum distance (811, 821) and a maximum distance (812, 822) between the augmented reality display device and the at least one of the one or more devices (810, 820) in which the wireless signal from the one or more devices (810, 820) can be detected; and determining at least one estimated region where the augmented reality display device is located in using the level of accuracy, the minimum distance (811, 821), and the maximum distance (812, 822) for at least one of the one or more devices (810, 820). detecting one or more wireless signals originating from the one or more devices (810, 820); identifying location data corresponding to positions of the one or more devices (810, 820), the location data generated by global positioning systems associated with the one or more devices (810, 820), and the location data being transmitted wirelessly between the augmented reality display device and respective devices of the one or more devices (810, 820) using respective peer-to-peer communication protocols; determining a level of accuracy of the location data from at least one of the one or more devices (810, 820); estimating a minimum distance (811, 821) and a maximum distance (812, 822) between the augmented reality display device and the at least one of the one or more devices (810, 820) in which the wireless signal from the one or more devices (810, 820) can be detected; and determining at least one estimated region where the augmented reality display device is located in using the level of accuracy, the minimum distance (811, 821), and the maximum distance (812, 822) for at least one of the one or more devices (810, 820).