A method includes: receiving, with a computing platform, respective trajectory data and map data independently generated by each of a plurality of vision-aided inertial navigation devices (VINS devices) traversing an environment, wherein the trajectory data specifies poses along a path through the environment for the respective VINS device and the map data specifies positions of observed features within the environment as determined by an estimator executed by the respective VINS device; determining, with the computing platform and based on the respective trajectory data and map data from each of the VINS devices, estimates for relative poses within the environment by determining transformations that geometrically relate the trajectory data and the map data between one or more pairs of the VINS devices; and generating, with the computing platform and based on the transformations, a composite map specifying positions within the environment for the features observed by the VINS devices.