[ Question ] - What is the lowest rate of camera sample to make good positional using IMU!?

[Fredrum]

Hello!

I'm looking into getting a realtime camera tracking process with lower powred devices such as a Raspberry Pi4b. Iv'e playes with this before and it was a real struggle trying to get all the code to run at 60fps on such hardware, let alone to have compute left on the table for other uses.

Does anyone have any advice for the lowest rate of positional camera tracking samples that I can get away with, to still get smooth positional tracking when coupled with IMU data?

Cheers!