In one embodiment, a computing system may determine a first orientation in a 3D space based on first sensor data generated at a first time. The system may determine a first visibility of an object in the 3D space by projecting rays based on the first orientation to test for intersection. The system may generate first lines of pixels based on the determined first visibility and output the first lines of pixels for display. The system may determine a second orientation based on second sensor data generated at a second time. The system may determine a second visibility of the object by projected rays based on the second orientation to test for intersection. The system may generate second lines of pixels based on the determined second visibility and output the second lines of pixels for display. The second lines of pixels are displayed concurrently with the first lines of pixels.