Disclosed are devices, methods and storage media for use in determining position information for imaging devices or mobile devices. In some implementations, a landmark is identified in an image which is obtained from an imaging device which in turn is positioned at a location and in a pose. A virtual two-dimensional image that would be visible from the landmark is determined based, at least in part, on the pose. The location or position information is based, at least in part, on the virtual two-dimensional image.