A computer-implemented method for using a camera system to determine a location of a camera unit in relation to a three-dimensional model, the method comprising: retrieving a model of a worksite, wherein the model is a three-dimensional model; retrieving an image of the worksite, wherein: the image is acquired using a camera at the worksite; the worksite has a first surface and a second surface, wherein the first surface is a wall, floor or ceiling of the worksite, and wherein the second surface is a wall, floor or ceiling of the worksite; the image comprises at least a portion of the first surface and at least a portion of the second surface; receiving coarse input for a position and/or an orientation of the camera in relation to the model; projecting a first feature of the model onto the image; comparing the first surface in the image to the first feature of the model projected onto the image, wherein the first feature comprises lines, wherein each line corresponds to an edge or outline of the first surface; projecting a second feature of the model onto the image; comparing the second surface in the image to the second feature of the model projected onto the image, wherein the second feature comprises lines, wherein each line corresponds to an edge or outline of the second surface; calculating a first set of parameters of the camera based on aligning the first feature to the first surface in the image; calculating a second set of parameters of the camera based on aligning the second feature with the second surface in the image, wherein calculating the second set of parameters is performed independently from calculating the first set of parameters; and calculating the position and/or the orientation of the camera in relation to the model based on the first set of parameters and the second set of parameters. retrieving a model of a worksite, wherein the model is a three-dimensional model; retrieving an image of the worksite, wherein: the image is acquired using a camera at the worksite; the worksite has a first surface and a second surface, wherein the first surface is a wall, floor or ceiling of the worksite, and wherein the second surface is a wall, floor or ceiling of the worksite; the image comprises at least a portion of the first surface and at least a portion of the second surface; the image is acquired using a camera at the worksite; the worksite has a first surface and a second surface, wherein the first surface is a wall, floor or ceiling of the worksite, and wherein the second surface is a wall, floor or ceiling of the worksite; the image comprises at least a portion of the first surface and at least a portion of the second surface; receiving coarse input for a position and/or an orientation of the camera in relation to the model; projecting a first feature of the model onto the image; comparing the first surface in the image to the first feature of the model projected onto the image, wherein the first feature comprises lines, wherein each line corresponds to an edge or outline of the first surface; projecting a second feature of the model onto the image; comparing the second surface in the image to the second feature of the model projected onto the image, wherein the second feature comprises lines, wherein each line corresponds to an edge or outline of the second surface; calculating a first set of parameters of the camera based on aligning the first feature to the first surface in the image; calculating a second set of parameters of the camera based on aligning the second feature with the second surface in the image, wherein calculating the second set of parameters is performed independently from calculating the first set of parameters; and calculating the position and/or the orientation of the camera in relation to the model based on the first set of parameters and the second set of parameters. <EOS>