A method, comprising, in response to a reset event at an electronic device, identifying at the electronic device an origin in a first frame of reference; identifying a first pose of the electronic device in a second frame of reference corresponding to a geographic frame of reference based on a first image (134, 136) captured by an imaging camera at the electronic device, wherein identifying the first pose comprises: in response to the reset event at the electronic device, identifying an estimated pose of the electronic device based on non-visual location data; and refining the estimated pose of the electronic device based on the image captured by the imaging camera to identify the first pose; concurrent with identifying the first pose, identifying a change in position of the electronic device in the first frame of reference relative to the origin; translating the first pose of the electronic device to a second pose in the second frame of reference based on the change in position in the first frame of reference; and translating a plurality of intermediate poses (202 - 205) of the electronic device between the estimated pose and the second pose of the electronic device by tracking changes in position of the electronic device as the electronic device moves through the intermediate poses (202 - 205), establishing points (222 - 225) in the first frame of reference to correspond to the intermediate poses (202 - 205) based on the changes in position, transforming the origin and points (222 - 225) in the first frame of reference to points (231 - 235) in the second frame of reference, and thus identifying poses in the second frame of reference corresponding to the points in the second frame of reference. in response to a reset event at an electronic device, identifying at the electronic device an origin in a first frame of reference; identifying a first pose of the electronic device in a second frame of reference corresponding to a geographic frame of reference based on a first image (134, 136) captured by an imaging camera at the electronic device, wherein identifying the first pose comprises: in response to the reset event at the electronic device, identifying an estimated pose of the electronic device based on non-visual location data; and refining the estimated pose of the electronic device based on the image captured by the imaging camera to identify the first pose; in response to the reset event at the electronic device, identifying an estimated pose of the electronic device based on non-visual location data; and refining the estimated pose of the electronic device based on the image captured by the imaging camera to identify the first pose; concurrent with identifying the first pose, identifying a change in position of the electronic device in the first frame of reference relative to the origin; translating the first pose of the electronic device to a second pose in the second frame of reference based on the change in position in the first frame of reference; and translating a plurality of intermediate poses (202 - 205) of the electronic device between the estimated pose and the second pose of the electronic device by tracking changes in position of the electronic device as the electronic device moves through the intermediate poses (202 - 205), establishing points (222 - 225) in the first frame of reference to correspond to the intermediate poses (202 - 205) based on the changes in position, transforming the origin and points (222 - 225) in the first frame of reference to points (231 - 235) in the second frame of reference, and thus identifying poses in the second frame of reference corresponding to the points in the second frame of reference. tracking changes in position of the electronic device as the electronic device moves through the intermediate poses (202 - 205), establishing points (222 - 225) in the first frame of reference to correspond to the intermediate poses (202 - 205) based on the changes in position, transforming the origin and points (222 - 225) in the first frame of reference to points (231 - 235) in the second frame of reference, and thus identifying poses in the second frame of reference corresponding to the points in the second frame of reference.