An object-tracking (100) system is disclosed. The tracking system is designed for environments where global positioning system (GPS), radio frequency (RF), and/or cellular communication signals are unavailable. The system is configured to use camera-captured images of the surrounding environment in conjunction with inertial measurements to perform visual and/or traditional odometry. An object detection algorithm and/or tracking scheme may be used to detect objects within the captured images, to help determine a user position relative to the objects. The detector architecture may be configured to allow for target (and/or object) agnostic camera detection and/or tracking that is easily configurable and/or reconfigurable depending on for the type of object to be detected and/or tracked.
