1. A method performed by a system, the method comprising: comparing at least one query image received from a mobile device with a plurality of planes stored in a memory; matching the query image with at least one of the plurality of planes; and determining a location based on the matching of the query image with the at least one plane, wherein comparing the at least one query image with the plurality of planes includes executing a warping function between the at least one query image and the plurality of planes to determine at least a first matching score for matching the at least one query image with at least one of the plurality of planes.