1. A computer implemented method, comprising: receiving, using one or more processors, a plurality of images captured by a mobile device at an area, the area being associated with a set of candidate locations; detecting, using the one or more processors, a first type of feature indicator and a second type of feature indicator associated with the plurality of images, the first type of feature indicator being different than the second type of feature indicator, the first and the second types of feature indicators including types of semantic features related to interior portions of the area, the types of semantic features for the first type of feature indicator including at least one of: 1) surface textures of interior objects, 2) patterns of interior elements, 3) interior architecture, or 4) interior décor and the types of semantic features for the second type of feature indicator including at least one of: 1) interior noise or 2) interior music; identifying, using the one or more processors, a set of feature indicators including a combination of the first type of feature indicator and the second type of feature indicator; comparing, using the one or more processors, the set of feature indicators with a plurality of stored location feature sets; calculating a score for one or more of the set of candidate locations based on at least a number of matching semantic features, wherein the score is weighted based on the type of semantic feature used in the comparison, such that the types of semantic features for the first type of feature indicator is weighted differently than the types of semantic features for the second type of feature indicator; selecting, using the one or more processors, a location from the set of candidate locations based at least in part on the comparison; and estimating, using the one or more processors, a position of the mobile device based at least in part on the selected location.