1. A computer-implemented method for localizing a mobile device at a structure and generating or updating maps representing the structure, the method comprising: detect a structural feature associated with the structure using sensor data associated with the mobile device while traversing the detected structural feature; upon detecting the structural feature, obtain signal data associated with the detected structural feature's environment; generate a mobile structure map representing the structure at the mobile device using the sensor data; communicate a feature descriptor to a server communicatively coupled to a dataset comprised of previously received feature descriptors and one or more mobile structure maps generated using the previously received feature descriptors, each feature descriptor associated with a corresponding structural feature and including sensor data used by other mobile devices to detect the corresponding structural feature, signal data obtained by the other mobile devices upon detecting the corresponding structural feature, or a combination thereof; and in response to the communicated feature descriptor, receive a map correction from the server that corrects the detected structural feature's location on the mobile structure map.