The pose of a wide-angle image is determined by dewarping regions of the wide-angle image, determining estimated poses of the dewarped regions of the wide-angle image and deriving a pose of the wide-angle image from the estimated poses of the of the dewarped regions. The estimated poses of the dewarped regions may be determined by comparing features in the dewarped regions with features in prior dewarped regions from one or more prior wide-angle images, as well as by comparing features in the dewarped regions with features in a point cloud.