A mobile platform having a camera for outputting image data of features with unknown locations, an inertial measurement unit for outputting inertial measurements of the features, where the coordinates of the features are unknown, a processor, storage and an extended-Kalman filter-based estimator executable on the processor for processing the inertial measurement and features of the image data, where a state vector of the estimator contains a sliding window of states for determining the position and orientation of the mobile platform.