3. The mobile computing device of claim 1 , 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.
3. The mobile computing device of claim 1 , 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. 4. The mobile computing device of claim 3 , comprising instructions to cause the mobile computing device to recognize the larger-scale objects by executing an invariant two-dimensional feature detection algorithm.