Methods, systems, devices, and tangible non-transitory computer readable media for determining orientation are provided. The disclosed technology can include capturing images of an environment visible in a field of view of the mobile computing device. Location data associated with a location of the mobile computing device can be received. Image data including information associated with the images can be generated. Based on the image data and one or more machine-learned models, features of one or more objects in the environment can be determined. Based on the location data and the features of the objects, respective orientations of the objects relative to the location of the mobile computing device can be determined. Furthermore, orientation data that includes a geographic orientation of the mobile computing device can be generated based on the respective (geographic) orientations of the objects.