That depends what you consider "occasional", but for most definitions the answer would be no. I'm sure there are better ways to handle the inertial measurements than what I did, but even so, double integration drift causes errors very very quickly. I doubt it'd be possible to go over a second, and my implementation struggled with anything over ~150-200ms.
However, it does an impressively good job with low camera frame rates. I tested it at 10FPS (discarding every third frame), and the results are barely distinguishable from 30FPS. Below that it starts having difficulty.
However, it does an impressively good job with low camera frame rates. I tested it at 10FPS (discarding every third frame), and the results are barely distinguishable from 30FPS. Below that it starts having difficulty.