1. A video processing system comprising: a camera pose measurement extractor configured to extract at least one camera pose measurement from video metadata associated with a video input provided by at least one communicatively connected camera; a frame correspondence generator configured to generate at least one frame-to-frame correspondence based at least in part on video frames associated with the video input provided by the at least one communicatively connected camera; an augmented Extended Kalman Filter (EKF) configured to generate an estimated camera state based at least in part on the camera pose measurements received from the communicatively connected camera pose measurement extractor, the frame-to-frame correspondences received from the frame correspondence generator, and a range estimation received from a communicatively connected range estimator; and a camera pose estimator configured to generate a refined camera pose estimate based at least in part on the estimated camera state received from the communicatively connected augmented EKF.