An augmented reality device generates an updated position and orientation (pose) value by initially determining, using image-based processing, a pose estimate from a current image frame, a previous image frame and a previous pose. An IMU pose is then obtained from data generated by an inertial measurement unit including motion sensors, and transformation between the pose estimate and the IMU pose is determined. The transformation is applied to the pose estimate to generate a pose update. Media content is applied to a position within an image, the position being based on the pose update.