A computer-implemented method according to one embodiment includes identifying a plurality of devices, determining a relative location of each of the plurality of devices, and assigning visualization data to each of the plurality of devices, based on the relative location of each of the plurality of devices, wherein determining the relative location of each of the plurality of devices includes performing relative localization on each of the plurality of devices by performing a constrained nonlinear optimization in order to reconstruct relative locations of each of the plurality of devices, using distributed observations received from the plurality of devices in order to determine a co-located group of the devices.