I don't think that's true. The paper says that a camera pose estimated by a SLAM system is required. ARKit implements SLAM and can easily provide camera pose fo

I don't think that's true. The paper says that a camera pose estimated by a SLAM system is required. ARKit implements SLAM and can easily provide camera pose for each frame through the ARFrame class. But there are countless other implementations of SLAM, including Android ARCore, Oculus Quest, Roomba, self-driving cars, and a number of GitHub repos (https://github.com/tzutalin/awesome-visual-slam https://github.com/tzutalin/awesome-visual-slam).