Abstract: A system and method for visual inertial navigation are described. In some embodiments, a device comprises an inertial measurement unit (IMU) sensor, a camera, a radio-based sensor, and a processor. The IMU sensor generates IMU data of the device. The camera generates a plurality of video frames. The radio-based sensor generates radio-based sensor data based on an absolute reference frame relative to the device. The processor is configured to synchronize the plurality of video frames with the IMU data, compute a first estimated spatial state of the device based on the synchronized plurality of video frames with the IMU data, compute a second estimated spatial state of the device based on the radio-based sensor data, and determine a spatial state of the device based on a combination of the first and second estimated spatial states of the device.