A computing device , comprising: a location sensor system including one or more sensors configured to measure one or more parameters of a surrounding environment for determining a current pose of the computing device; a pose-tracking engine configured to determine a current pose of the computing device based on the one or more measured parameters of the surrounding environment, wherein the measured parameters are based on feature tracking and positional data; a graphing engine configured to access a traversability graph including a plurality of vertices, wherein each of the plurality of vertices is associated with a different local coordinate system; a navigation engine configured to identify a nearby vertex of the traversability graph relative to the current pose, and configured to determine a path of traversable edges between the nearby vertex and a destination vertex of the traversability graph, and a display configured to visually present as an overlay to the environment a navigation visualization corresponding to the path wherein the pose-tracking engine is configured to create a pose graph that connects the different local coordinate systems together via transformations that represent edges of the pose graph; wherein the traversability graph includes a known traversable edge between a connected pair of vertices that has been previously traversed, and an inferred traversable edge between a previously unconnected pair of vertices that has not been previously traversed, the inferred traversable edge selected based on a distance between the previously unconnected pair of vertices being less than a threshold distance. a location sensor system including one or more sensors configured to measure one or more parameters of a surrounding environment for determining a current pose of the computing device; a pose-tracking engine configured to determine a current pose of the computing device based on the one or more measured parameters of the surrounding environment, wherein the measured parameters are based on feature tracking and positional data; a graphing engine configured to access a traversability graph including a plurality of vertices, wherein each of the plurality of vertices is associated with a different local coordinate system; a navigation engine configured to identify a nearby vertex of the traversability graph relative to the current pose, and configured to determine a path of traversable edges between the nearby vertex and a destination vertex of the traversability graph, and a display configured to visually present as an overlay to the environment a navigation visualization corresponding to the path wherein the pose-tracking engine is configured to create a pose graph that connects the different local coordinate systems together via transformations that represent edges of the pose graph; wherein the traversability graph includes a known traversable edge between a connected pair of vertices that has been previously traversed, and an inferred traversable edge between a previously unconnected pair of vertices that has not been previously traversed, the inferred traversable edge selected based on a distance between the previously unconnected pair of vertices being less than a threshold distance. <EOS>