Systems and methods for image based location estimation are described. In one example embodiment, a first positioning system is used to generate a first position estimate. A 3D point cloud data describing an environment is then accessed. A first image of an environment is captured, and a portion of the image is matched to a portion of key points in the 3D point cloud data. An augmented reality object is then aligned within one or more images of the environment based on the match of the 3D point cloud with the image. In some embodiments, building façade data may additionally be used to determine a device location and place the augmented reality object within an image.