According to some aspects, a wearable device for estimating a location of the device within a space is provided, the device comprising a plurality of cameras mounted to a structure, at least a portion of the structure being adapted to facilitate a user wearing the device, the plurality of cameras having substantially fixed positions and orientations on the structure relative to each other, and at least one processor configured to receive image data from the plurality of cameras, perform feature detection on the image data to obtain a first plurality of features from the image data, and determine an estimate of the location of the device in the space based, at least in part, on a location associated with a second plurality of features obtained from image data previously captured of the space that matches the first plurality of features.