Methods and systems for automatically generating pose estimates from uncalibrated unordered panoramas are provided. An exemplary method of automatically generating pose estimates includes receiving a plurality of uncalibrated and unordered panoramic images that include at least one interior building image, and extracting, for each panoramic image, feature points. The method includes generating a match matrix for all the panoramic images based on the one or more feature points, constructing a minimal spanning tree based on the match matrix, identifying a first and second panoramic image, based on the minimal spanning tree, wherein the second panoramic image is associated with the first panoramic image providing a navigation from the first panoramic image to the second panoramic image.