1. A computer system for causing a head mounted display (HMD) to render an augmented reality image, comprising: at least one processor; and at least one memory comprising instructions configured to cause the at least one processor to perform a method comprising: receiving visual data associated with a first orientation of the HMD; receiving depth frame data associated with the first orientation of the HMD; receiving IMU data associated with the first orientation of the HMD; receiving localization results associated with the first orientation of the HMD; determining a future rendering time when the HMD will present an image to a user; determining a second, predicted orientation associated with the HMD at the future rendering time based upon the IMU data, the localization results, and the future rendering time; generating a three-dimensional (3D) mesh from the depth frame data associated with the first orientation and specifying the texture for the 3D mesh from the visual data associated with the first orientation; determining a transform between the first orientation and the second orientation; applying the transform to the generated 3D mesh; and causing at least a portion of the resulting textured 3D mesh to be rendered in the HMD to the user as a final image.