A mobile device determines a vision based pose using images captured by a camera and determines a sensor based pose using data from inertial sensors, such as accelerometers and gyroscopes. The vision based pose and sensor based pose are used separately in a visualization application, which displays separate graphics for the different poses. For example, the visualization application may be used to calibrate the inertial sensors, where the visualization application displays a graphic based on the vision based pose and a graphic based on the sensor based pose and prompts a user to move the mobile device in a specific direction with the displayed graphics to accelerate convergence of the calibration of the inertial sensors. Alternatively, the visualization application may be a motion based game or a photography application that displays separate graphics using the vision based pose and the sensor based pose.