A computing device configured for implementing a method for estimating six degree of freedom positioning of the computing device while the computing device is in a pedestrian dead reckoning mode by using inertial tracking data and a predictive model trained on both observed exteroceptive sensor data and inertial tracking data, the system comprising: a set of one or more inertial tracking components configured to generate inertial tracking data, the set of one or more inertial tracking components including at least one of an accelerometer, a gyroscope and/or a compass; one or more processors; and one or more computer-readable hardware storage devices having stored computer-executable instructions that are operable, when executed by the one or more processors, to cause the system to implement the method for estimating six degree of freedom positioning of the computing device while the computing device is in the pedestrian dead reckoning mode, the method comprising: obtaining a set of inertial tracking data from the set of one or more inertial tracking components while the computing device is in the pedestrian dead reckoning mode; obtaining an estimated three degree of freedom velocity of the computing device as output from a predictive model in response to providing a first subset of inertial tracking data from the set of inertial tracking data as input into the predictive model, the predictive model having been trained on a set of training data including both observed exteroceptive sensor data and observed inertial tracking data; and obtaining an estimated six degree of freedom positioning of the computing device by fusing the estimated three degree of freedom velocity with a second subset of inertial tracking data that is based on the set of inertial tracking data. a set of one or more inertial tracking components configured to generate inertial tracking data, the set of one or more inertial tracking components including at least one of an accelerometer, a gyroscope and/or a compass; one or more processors; and one or more computer-readable hardware storage devices having stored computer-executable instructions that are operable, when executed by the one or more processors, to cause the system to implement the method for estimating six degree of freedom positioning of the computing device while the computing device is in the pedestrian dead reckoning mode, the method comprising: obtaining a set of inertial tracking data from the set of one or more inertial tracking components while the computing device is in the pedestrian dead reckoning mode; obtaining an estimated three degree of freedom velocity of the computing device as output from a predictive model in response to providing a first subset of inertial tracking data from the set of inertial tracking data as input into the predictive model, the predictive model having been trained on a set of training data including both observed exteroceptive sensor data and observed inertial tracking data; and obtaining an estimated six degree of freedom positioning of the computing device by fusing the estimated three degree of freedom velocity with a second subset of inertial tracking data that is based on the set of inertial tracking data. obtaining a set of inertial tracking data from the set of one or more inertial tracking components while the computing device is in the pedestrian dead reckoning mode; obtaining an estimated three degree of freedom velocity of the computing device as output from a predictive model in response to providing a first subset of inertial tracking data from the set of inertial tracking data as input into the predictive model, the predictive model having been trained on a set of training data including both observed exteroceptive sensor data and observed inertial tracking data; and obtaining an estimated six degree of freedom positioning of the computing device by fusing the estimated three degree of freedom velocity with a second subset of inertial tracking data that is based on the set of inertial tracking data.