A method and a system that uses standard cell-phone sensors to provide accurate and energy-efficient outdoor localization suitable for mobile navigation design. System and method employs a dead-reckoning localization approach and leverages these road landmarks, among others such as virtual landmarks, to reset the accumulated error and achieve accurate localization. For consuming low energy the system and method uses only energy-efficient sensors or sensors that are already running for other purposes. We present the design of System and method of leveraging crowd-sourcing to automatically learn virtual landmarks and their locations. Tests of the system and method on android devices in both city and highway driving show the accuracy of results for local cell phones to within 8.4 m median error in city roads and 16.6 m on highways. Moreover, compared to GPS and other systems, the battery lifetime was extended by 347%, achieving even better localization results than GPS.