Abstract: Methods and systems are provided for facilitating large-scale augmented reality in relation to outdoor scenes using estimated camera pose information. In particular, camera pose information for an image can be estimated by matching the image to a rendered ground-truth terrain model with known camera pose information. To match images with such renders, data driven cross-domain feature embedding can be learned using a neural network. Cross-domain feature descriptors can be used for efficient and accurate feature matching between the image and the terrain model renders. This feature matching allows images to be localized in relation to the terrain model, which has known camera pose information. This known camera pose information can then be used to estimate camera pose information in relation to the image.