A Multi-State Constraint Kalman Filter for Vision-aided Inertial Navigation Anastasios I Mourikis and Stergios I Roumeliotis Abstract—In this paper, we present an Extended Kalman Filter (EKF)-based algorithm for real-time vision-aided inertial navigation The primary contribution of this work is the derivation of a measurement model that is able to express the geometric constraints that arise when a static feature is observed from multiple camera poses This