1. A method performed by a system, the method comprising: comparing a query image received from a mobile device with a plurality of planes stored in a memory, wherein each of the plurality of planes is a planar region of an imaged area of an environment; matching the query image with at least one of the plurality of planes; and determining a location of the mobile device based on the matching of the query image with the at least one plane without using non-planar structures in the query image, wherein comparing the query image with the plurality of planes includes executing a warping function between the query image and the plurality of planes to determine at least a first matching score for matching the query image with the at least one plane.