Next, we'll look at what work has been done to make Monado support SLAM/VIO systems for device tracking. For integrating these systems with Monado, it was necessary to create a flexible enough SLAM tracking interface that allowed to easily swap the implementations in use while keeping any external code out of Monado. Now any RealSense device with camera streams and an IMU can be used for SLAM tracking even if it does not support on-device SLAM.