The present embodiments relate to localizing a mobile device in a complex, three-dimensional scene. By way of introduction, the present embodiments described below include apparatuses and methods for using multiple, independent pose estimations to increase the accuracy of a single, resulting pose estimation. The present embodiments increase the amount of input data by windowing a single depth image, using multiple depth images from the same sensor, and/or using multiple depth image from different sensors. The resulting pose estimation uses the input data with a multi-window model, a multi-shot model, a multi-sensor model, or a combination thereof to accurately estimate the pose of a mobile device.