Abstract—Inthispaper,wedevelopalow-coststereovisualinertiallocalizationsystem,whichleveragesefficientmultistateconstraintKalmanfilter(MSCKF)-basedvisual-inertialodometry(VIO)whileutilizinganaprioriLiDARmaptoprovidebounded-error3Dnavigation.Besidesthestandardspar