Image recognition and augmented reality experiences utilize auxiliary data extracted from an image or video, or image fingerprints, or a combination of both. One claim recites a method comprising: receiving a plurality of imagery frames captured by a device sensor; identifying a plurality of key points in each of the plurality of imagery frames; resolving image pose by utilizing relative relationships of the key points between different frames of the plurality of frames; modifying imagery of at least one of the plurality of frames based on resolved image pose; and deriving a fingerprint from modified imagery. Of course other claims and combinations are provided as well.