Various different techniques are used to determine a location of a device, including 3-dimensional (3D) mapping techniques as well as one or more of Global Navigation Satellite System (GNSS) techniques, wireless signal detection techniques, and inertial sensor techniques. The locations determined by these various techniques are combined to determine the location of the device and/or user of the device. In addition to the location of the device, an orientation or direction of view of the device and/or user of the device can optionally be determined as well.