Abstract: Systems, methods, and computer program products for determining the position of a first point in space. A three-dimensional point cloud is generated that comprises a plurality of data points each defining a range from the first point in space to another point in space in a region around the first point. A two-dimensional image is captured of an area including at least some of the points to which ranges have been defined. One or more objects each corresponding to a landmark are identified in the two-dimensional image, and one or more of the data points are mapped to each object. A range to each of the one or more landmarks is determined based on the ranges defined by data points mapped to the objects. A position of the first point in space is then obtained based on known positions of the landmarks using trilateration.