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We've developed a fully mobile, wearable AR system that combines a vision-based tracker (primarily software algorithms) that uses natural landmarks, with an inertial tracker (custom hardware and firmware) based on silicon micromachined accelerometers and gyroscopes. Unlike other vision-based and hybrid systems, both components recover the full 6 DOF pose. Fusing the two tracking subsystems gives us the benefits of both technologies, while the sensors' complementary nature helps overcome sensor-specific deficiencies. Our system is tailored to affordable, lightweight, energy-efficient mobile AR applications for urban environments, especially the historic centers of European cities.