A mapping system , comprising: an inertial measurement unit ; a camera unit ; a laser scanning unit ; and a computing system in communication with the inertial measurement unit , the camera unit , and the laser scanning unit , wherein the computing system comprises at least one processor , at least one primary memory unit , and at least one secondary memory unit , wherein the primary memory unit stores software that is executed by the at least one processor , wherein the software comprises: a first computational module that, when executed by the at least one processor , causes the at least one processor to compute at least one first measurement prediction based, at least in part, on inertial measurement data from the inertial measurement unit at a first frequency; a second computational module that, when executed by the at least one processor , causes the at least one processor to compute at least one second measurement prediction based, at least in part, on the at least one first measurement prediction and visual measurement data from the camera unit at a second frequency; and a third computational module that, when executed by the at least one processor , causes the at least one processor to compute at least one third measurement prediction based on the at least one second measurement prediction and laser ranging data from the laser scanning unit at a third frequency. an inertial measurement unit ; a camera unit ; a laser scanning unit ; and a computing system in communication with the inertial measurement unit , the camera unit , and the laser scanning unit , wherein the computing system comprises at least one processor , at least one primary memory unit , and at least one secondary memory unit , wherein the primary memory unit stores software that is executed by the at least one processor , wherein the software comprises: a first computational module that, when executed by the at least one processor , causes the at least one processor to compute at least one first measurement prediction based, at least in part, on inertial measurement data from the inertial measurement unit at a first frequency; a second computational module that, when executed by the at least one processor , causes the at least one processor to compute at least one second measurement prediction based, at least in part, on the at least one first measurement prediction and visual measurement data from the camera unit at a second frequency; and a third computational module that, when executed by the at least one processor , causes the at least one processor to compute at least one third measurement prediction based on the at least one second measurement prediction and laser ranging data from the laser scanning unit at a third frequency. a first computational module that, when executed by the at least one processor , causes the at least one processor to compute at least one first measurement prediction based, at least in part, on inertial measurement data from the inertial measurement unit at a first frequency; a second computational module that, when executed by the at least one processor , causes the at least one processor to compute at least one second measurement prediction based, at least in part, on the at least one first measurement prediction and visual measurement data from the camera unit at a second frequency; and a third computational module that, when executed by the at least one processor , causes the at least one processor to compute at least one third measurement prediction based on the at least one second measurement prediction and laser ranging data from the laser scanning unit at a third frequency. <EOS>