Systems and methods for image registration using data collected by an electronic device, such as a mobile device, capable of simultaneous localization and mapping are provided. An electronic device, such as a mobile device, can be can be configured to collect data using a variety of sensors as the device is carried or transported through a space. The collected data can be processed and analyzed to generate a three-dimensional representation of the space and objects in the space in near real time as the device is carried through the space. The data can be used for a variety of purposes, including registering imagery for localization and image processing.