An augmented reality (AR) device and a method of predicting a pose in the AR device is provided. In the augmented reality (AR) device inertial measurement unit (IMU) values corresponding to the movement of the AR device are obtained at an IMU rate, intermediate 6-degrees of freedom (6D) poses of the AR device are estimated based on the IMU values and images around the AR device via a visual-inertial simultaneous localization and mapping (VI-SLAM) module, and a pose prediction model for predicting relative 6D poses of the AR device is generated by performing learning by using a deep neural network.