11. The system of claim 9 , comprising instructions to cause the mobile computing device to recognize the larger-scale objects by executing an invariant three-dimensional feature detection algorithm directly on point cloud data obtained from at least one of the image sensors.
9. An object/scene recognition system comprising instructions embodied in one or more non-transitory computer readable storage media to and executable by one or more processors to cause a mobile computing device to: obtain two-dimensional image data and three-dimensional image data from one or more image sensors; temporally and spatially align the two-dimensional image data and three-dimensional image data; recognize a plurality of visual features in the image data, using one or more computer vision algorithms to: recognize larger-scale objects; recognize smaller-scale objects by iteratively performing context-free object identification and contextual object identification; and recognize a complex object comprising a plurality of the recognized smaller-scale objects, using a classifier.