A method includes: recording a series of frames; recording a set of motion data representing motion of the mobile device; detecting relative positions of a 3D constellation of objects based on the series of frames and the set of motion data; generating classifications of the 3D constellation of objects by calculating a classification of each object in a set of object classes; calculating a transform aligning the 3D constellation of objects with a 3D localization map; accessing a set of augmented reality assets defined by the 3D localization map; calculating a position of the mobile device relative to the 3D localization map based on the transform and the set of motion data; and rendering the set of augmented reality assets based on positions of the set of augmented reality assets in the 3D localization map and based on the position of the mobile device in the 3D localization map.