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Low cost inertial sensors are often promoted as the solution to indoor navigation. However, in reality, the quality of the measurements is poor, and as a result, the sensors can only be used to navigate for a few seconds at a time before the drift becomes too large to be useful. Therefore, it is necessary to regularly update the sensors with measurements from external systems such as GPS or other sensors useful for navigation. One such sensor is provided by the computer vision community where a camera can be used to obtain information about the relative translation and rotation between successive images. This paper describes the use of a camera attached to a low cost IMU for navigation in areas where GPS is unavailable such as indoors or deep urban canyons. It is assumed that a pedestrian user is walking with the mobile device held out in front of them with the camera pointing approximately towards the …