  Mobile Augmented Reality (MAR) is becoming an important cyber-physical system
application given the ubiquitous availability of mobile phones. With the need
to operate in unprepared environments, accurate and robust registration and
tracking has become an important research problem to solve. In fact, when MAR
is used for tele-interactive applications involving large distances, say from
an accident site to insurance office, tracking at both the ends is desirable
and further it is essential to appropriately fuse inertial and vision sensors
data. In this paper, we present results and discuss some insights gained in
marker-less tracking during the development of a prototype pertaining to an
example use case related to breakdown or damage assessment of a vehicle. The
novelty of this paper is in bringing together different components and modules
with appropriate enhancements towards a complete working system.
