[jcparkyn]

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.