Abstract: A computer-implemented method, comprising accessing an image comprising a handheld device, wherein the image is captured by one or more cameras associated with the computing device, generating a cropped image that comprises a hand of a user or the handheld device from the image by processing the image, generating a vision-based six degrees of freedom (6DoF) pose estimation for the handheld device by processing the cropped image, metadata associated with the image, and first sensor data from one or more sensors associated with the handheld device, generating a map-based 6DoF pose estimation using the handheld device, and generating a final 6DoF pose estimation for the handheld device based on the vision-based 6DoF pose estimation and the map-based 6DoF pose estimation generated using the handheld device.