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Georeferenced images help planners to compare and document the progress of underground construction sites. As underground positioning can not rely on GPS/GNSS, we introduce a solely vision based localization method, that makes use of a textureless 3D CAD model of the construction site. In our analysis-by-synthesis approach, depth and normal fisheye images are rendered from presampled positions and gradient orientations are extracted to build a high dimensional synthetic feature space. Acquireddoi:10.5194/isprsannals-ii-3-w2-43-2013 fatcat:mxa3uxpu7zezdmaq3hxh2bmgiq