Abstract: Seamless localization of multiple devices, by matching overlaps between images captured by the devices. A first device (201) sends a request (300) to other devices (211, 221, 231), receives the images captured by their cameras (311, 312, 313) and rotates them according to the orientations of the capture devices towards a determined direction. Overlaps between images are detected and corresponding positions of the devices are computed (330) from these overlaps. Finally, the positions are sent back (350) to the devices. Metadata related to image and devices can be used to scale the captured images, thus allowing to use simpler image processing algorithms. Methods and devices are claimed.