[MBCook]

From what I looked up based on the processors it would be the 6S, the 7, the new one this fall, all iPad pros, and the 2017 iPad.

[threeseed]

It says on the page ARKit only runs on A9/A10:

https://developer.apple.com/arkit/

[MBCook]

Oops, you're right, not the iPhone 6. I've edited the comment to fix it.

[ClassyJacket]

I see no reason it wouldn't work on the SE too, as it uses the same camera and SoC as the iPhone 6S.

[MBCook]

Dang, missed another one. Good catch.