1. A method of performing a search, comprising: receiving a plurality of images of an environment in view of a mobile device; generating a simultaneous localization and mapping of the environment using the plurality of images, wherein the simultaneous localization and mapping of the environment comprises a plurality of map points representing a plurality of surfaces in a three dimensional coordinate system of the environment; sending a set of the plurality of map points as a search query to a server at a first time instance; receiving a query response from the server at a second time instance; and identifying an object in the environment based at least in part on the query response, wherein the mobile device has a first pose relative to the object at the first time instance and the mobile device has a second pose relative to the object at the second time instance.