1. A method of performing a search, comprising: receiving one or more images of an environment in view of a mobile device; generating a simultaneous localization and mapping of the environment using the one or more 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; receiving a query response from the server; and identifying an object in the environment based at least in part on the query response.