Described herein are systems and methods that use motion-related data combined with image data to improve the speed and the accuracy of detecting visual features by predict the locations of features using the motion-related data. In embodiments, given a set of features in a previous image frame and given a next image frame, localization of the same set of features in the next image frame is attempted. In embodiments, motion-related data is used to compute the relative pose transformation between the two image frames, and the image location of the features may then be transformed to obtain their location prediction in the next frame. Such a process greatly reduces the search space of the features in the next image frame, and thereby accelerates and improves feature detection.