Embodiments of the present disclosure are directed to various systems, methods and apparatuses for performing simultaneous localization and mapping (SLAM) for a wearable device, including without limitation, a head-mounted wearable device that optionally includes a display screen. Such embodiments enable accurate and quick localization of a wearable device within a dynamically constructed map, optionally through computations performed with a computational device (including those having limited resources). A non-limiting example of such a computational device is a smart cellular phone or other mobile computational device.