Display of separate computer vision based pose and inertial sensor based pose

A mobile device comprising:

• a camera that captures images of an environment;
• inertial sensors that produce data in response to movement of the mobile device;
• a display;
• and
• a processor coupled to the display, coupled to the camera to receive captured images of the environment and coupled to the inertial sensors to receive the data in response to the movement of the mobile device, the processor configured to determine a vision based pose of the mobile device using the captured images;
• determine a sensor based pose of the mobile device using the data from the inertial sensors;
• and to cause the display to show a first graphic based on the vision based pose and to show a second graphic based on the sensor based pose.

A mobile device comprising:

• means for determining a vision based pose of the mobile device using captured images;
• means for determining a sensor based pose of the mobile device using inertial sensors;
• and
• means for using the vision based pose and the sensor based pose separately in a visualization application.

A storage medium including program code stored thereon, comprising:

• program code to determine a vision based pose of a mobile device using captured images;
• program code to determine a sensor based pose of the mobile device using inertial sensors;
• and
• program code to use the vision based pose and the sensor based pose separately in a visualization application.