diff --git a/packages/dev/core/src/LibDeclarations/webxr.d.ts b/packages/dev/core/src/LibDeclarations/webxr.d.ts
index bf8def809bd..3f72263c1a3 100644
--- a/packages/dev/core/src/LibDeclarations/webxr.d.ts
+++ b/packages/dev/core/src/LibDeclarations/webxr.d.ts
@@ -1200,6 +1200,21 @@ interface XRSession {
     enabledFeatures: string[];
 }
 
+// Raw camera access
+
+interface XRView {
+    readonly camera: XRCamera | undefined;
+}
+
+interface XRCamera {
+    readonly width: number;
+    readonly height: number;
+}
+
+interface XRWebGLBinding {
+    getCameraImage(camera: XRCamera): WebGLTexture | undefined;
+}
+
 /**
  * END: WebXR Depth Sensing Moudle
  * https://www.w3.org/TR/webxr-depth-sensing-1/
diff --git a/packages/dev/core/src/XR/features/WebXRAbstractFeature.ts b/packages/dev/core/src/XR/features/WebXRAbstractFeature.ts
index 34919b5563f..13075dc488e 100644
--- a/packages/dev/core/src/XR/features/WebXRAbstractFeature.ts
+++ b/packages/dev/core/src/XR/features/WebXRAbstractFeature.ts
@@ -1,5 +1,6 @@
 import type { IWebXRFeature } from "../webXRFeaturesManager";
-import type { Observer, Observable, EventState } from "../../Misc/observable";
+import type { Observer, EventState } from "../../Misc/observable";
+import { Observable } from "../../Misc/observable";
 import type { Nullable } from "../../types";
 import type { WebXRSessionManager } from "../webXRSessionManager";
 
@@ -30,6 +31,15 @@ export abstract class WebXRAbstractFeature implements IWebXRFeature {
      */
     public xrNativeFeatureName: string = "";
 
+    /**
+     * Observers registered here will be executed when the feature is attached
+     */
+    public onFeatureAttachObservable: Observable<IWebXRFeature> = new Observable();
+    /**
+     * Observers registered here will be executed when the feature is detached
+     */
+    public onFeatureDetachObservable: Observable<IWebXRFeature> = new Observable();
+
     /**
      * Construct a new (abstract) WebXR feature
      * @param _xrSessionManager the xr session manager for this feature
@@ -67,6 +77,7 @@ export abstract class WebXRAbstractFeature implements IWebXRFeature {
 
         this._attached = true;
         this._addNewAttachObserver(this._xrSessionManager.onXRFrameObservable, (frame) => this._onXRFrame(frame));
+        this.onFeatureAttachObservable.notifyObservers(this);
         return true;
     }
 
@@ -84,6 +95,7 @@ export abstract class WebXRAbstractFeature implements IWebXRFeature {
         this._removeOnDetach.forEach((toRemove) => {
             toRemove.observable.remove(toRemove.observer);
         });
+        this.onFeatureDetachObservable.notifyObservers(this);
         return true;
     }
 
@@ -93,6 +105,8 @@ export abstract class WebXRAbstractFeature implements IWebXRFeature {
     public dispose(): void {
         this.detach();
         this.isDisposed = true;
+        this.onFeatureAttachObservable.clear();
+        this.onFeatureDetachObservable.clear();
     }
 
     /**
diff --git a/packages/dev/core/src/XR/features/WebXRRawCameraAccess.ts b/packages/dev/core/src/XR/features/WebXRRawCameraAccess.ts
new file mode 100644
index 00000000000..8b181360676
--- /dev/null
+++ b/packages/dev/core/src/XR/features/WebXRRawCameraAccess.ts
@@ -0,0 +1,217 @@
+import { WebXRFeatureName, WebXRFeaturesManager } from "../webXRFeaturesManager";
+import type { WebXRSessionManager } from "../webXRSessionManager";
+import { WebXRAbstractFeature } from "./WebXRAbstractFeature";
+import { Observable } from "../../Misc/observable";
+import { Constants } from "../../Engines/constants";
+import { WebGLHardwareTexture } from "../../Engines/WebGL/webGLHardwareTexture";
+import { InternalTexture, InternalTextureSource } from "../../Materials/Textures/internalTexture";
+import { BaseTexture } from "core/Materials/Textures/baseTexture";
+
+/**
+ * Options for raw camera access
+ */
+export interface IWebXRRawCameraAccessOptions {
+    /**
+     * Keep the created textures and metadata when detaching the feature.
+     */
+    doNotDisposeOnDetach?: boolean;
+}
+
+/**
+ * WebXR Feature for WebXR raw camera access
+ * @since
+ * @see https://immersive-web.github.io/raw-camera-access/
+ */
+export class WebXRRawCameraAccess extends WebXRAbstractFeature {
+    private _cachedInternalTextures: InternalTexture[] = [];
+    /**
+     * This is an array of camera views
+     * Note that mostly the array will contain a single view
+     * If you want to know the order of the views, use the `viewIndex` array
+     */
+    public texturesData: BaseTexture[] = [];
+    /**
+     * If needed, this array will contain the eye definition of each texture in `texturesArray`
+     */
+    public viewIndex: string[] = [];
+
+    /**
+     * If needed, this array will contain the camera's intrinsics
+     * You can use this data to convert from camera space to screen space and vice versa
+     */
+    public cameraIntrinsics: {
+        u0: number;
+        v0: number;
+        ax: number;
+        ay: number;
+        gamma: number;
+        width: number;
+        height: number;
+        viewportX: number;
+        viewportY: number;
+    }[] = [];
+
+    /**
+     * An observable that will notify when the camera's textures are updated
+     */
+    public onTexturesUpdatedObservable: Observable<BaseTexture[]> = new Observable();
+
+    private _glBinding?: XRWebGLBinding;
+    private _glContext: WebGLRenderingContext;
+
+    /**
+     * The module's name
+     */
+    public static readonly Name = WebXRFeatureName.RAW_CAMERA_ACCESS;
+
+    /**
+     * The (Babylon) version of this module.
+     * This is an integer representing the implementation version.
+     * This number does not correspond to the WebXR specs version
+     */
+    public static readonly Version = 1;
+
+    /**
+     * Creates a new instance of the feature
+     * @param _xrSessionManager the WebXRSessionManager
+     * @param options options for the Feature
+     */
+    constructor(
+        _xrSessionManager: WebXRSessionManager,
+        public readonly options: IWebXRRawCameraAccessOptions = {}
+    ) {
+        super(_xrSessionManager);
+        this.xrNativeFeatureName = "camera-access";
+    }
+
+    public attach(force?: boolean | undefined): boolean {
+        if (!super.attach(force)) {
+            return false;
+        }
+
+        this._glContext = this._xrSessionManager.scene.getEngine()._gl;
+        this._glBinding = new XRWebGLBinding(this._xrSessionManager.session, this._glContext);
+
+        return true;
+    }
+
+    public detach(): boolean {
+        if (!super.detach()) {
+            return false;
+        }
+        this._glBinding = undefined;
+        if (!this.options.doNotDisposeOnDetach) {
+            this._cachedInternalTextures.forEach((t) => t.dispose());
+            this.texturesData.forEach((t) => t.dispose());
+            this._cachedInternalTextures.length = 0;
+            this.texturesData.length = 0;
+            this.cameraIntrinsics.length = 0;
+        }
+        return true;
+    }
+
+    /**
+     * Dispose this feature and all of the resources attached
+     */
+    public dispose(): void {
+        super.dispose();
+        this.onTexturesUpdatedObservable.clear();
+    }
+
+    /**
+     * @see https://github.com/immersive-web/raw-camera-access/blob/main/explainer.md
+     */
+    private _updateCameraIntrinsics(view: XRView, index: number): void {
+        const cameraViewport = {
+            width: view.camera!.width,
+            height: view.camera!.height,
+            x: 0,
+            y: 0,
+        };
+        const p = view.projectionMatrix;
+
+        // Principal point in pixels (typically at or near the center of the viewport)
+        const u0 = ((1 - p[8]) * cameraViewport.width) / 2 + cameraViewport.x;
+        const v0 = ((1 - p[9]) * cameraViewport.height) / 2 + cameraViewport.y;
+
+        // Focal lengths in pixels (these are equal for square pixels)
+        const ax = (cameraViewport.width / 2) * p[0];
+        const ay = (cameraViewport.height / 2) * p[5];
+
+        // Skew factor in pixels (nonzero for rhomboid pixels)
+        const gamma = (cameraViewport.width / 2) * p[4];
+        this.cameraIntrinsics[index] = {
+            u0,
+            v0,
+            ax,
+            ay,
+            gamma,
+            width: cameraViewport.width,
+            height: cameraViewport.height,
+            viewportX: cameraViewport.x,
+            viewportY: cameraViewport.y,
+        };
+    }
+
+    private _updateInternalTextures(view: XRView, index = 0): boolean {
+        if (!view.camera) {
+            return false;
+        }
+        this.viewIndex[index] = view.eye;
+        const lp = this._glBinding?.getCameraImage(view.camera);
+
+        if (!this._cachedInternalTextures[index]) {
+            const internalTexture = new InternalTexture(this._xrSessionManager.scene.getEngine(), InternalTextureSource.Unknown, true);
+            internalTexture.isCube = true;
+            internalTexture.invertY = false;
+            // internalTexture._useSRGBBuffer = this.options.reflectionFormat === "srgba8";
+            internalTexture.format = Constants.TEXTUREFORMAT_RGBA;
+            internalTexture.generateMipMaps = true;
+            internalTexture.type = Constants.TEXTURETYPE_FLOAT;
+            internalTexture.samplingMode = Constants.TEXTURE_LINEAR_LINEAR_MIPLINEAR;
+            internalTexture.width = view.camera.width;
+            internalTexture.height = view.camera.height;
+            internalTexture._cachedWrapU = Constants.TEXTURE_WRAP_ADDRESSMODE;
+            internalTexture._cachedWrapV = Constants.TEXTURE_WRAP_ADDRESSMODE;
+            internalTexture._hardwareTexture = new WebGLHardwareTexture(lp, this._glContext);
+            this._cachedInternalTextures[index] = internalTexture;
+            // create the base texture
+            const texture = new BaseTexture(this._xrSessionManager.scene);
+            texture.name = `WebXR Raw Camera Access (${index})`;
+            texture._texture = this._cachedInternalTextures[index];
+            this.texturesData[index] = texture;
+            // get the camera intrinsics
+            this._updateCameraIntrinsics(view, index);
+        } else {
+            // make sure the webgl texture is updated. Should happen automatically
+            this._cachedInternalTextures[index]._hardwareTexture?.set(lp);
+        }
+        this._cachedInternalTextures[index].isReady = true;
+        return true;
+    }
+
+    protected _onXRFrame(_xrFrame: XRFrame): void {
+        const referenceSPace = this._xrSessionManager.referenceSpace;
+
+        const pose = _xrFrame.getViewerPose(referenceSPace);
+        if (!pose || !pose.views) {
+            return;
+        }
+        let updated = true;
+        pose.views.forEach((view, index) => {
+            updated = updated && this._updateInternalTextures(view, index);
+        });
+        if (updated) {
+            this.onTexturesUpdatedObservable.notifyObservers(this.texturesData);
+        }
+    }
+}
+
+WebXRFeaturesManager.AddWebXRFeature(
+    WebXRRawCameraAccess.Name,
+    (xrSessionManager, options) => {
+        return () => new WebXRRawCameraAccess(xrSessionManager, options);
+    },
+    WebXRRawCameraAccess.Version,
+    false
+);
diff --git a/packages/dev/core/src/XR/features/index.ts b/packages/dev/core/src/XR/features/index.ts
index 5db234ef8e2..de55538bf24 100644
--- a/packages/dev/core/src/XR/features/index.ts
+++ b/packages/dev/core/src/XR/features/index.ts
@@ -20,3 +20,4 @@ export * from "./WebXRWalkingLocomotion";
 export * from "./WebXRLayers";
 export * from "./WebXRDepthSensing";
 export * from "./WebXRSpaceWarp";
+export * from "./WebXRRawCameraAccess";
diff --git a/packages/dev/core/src/XR/webXRFeaturesManager.ts b/packages/dev/core/src/XR/webXRFeaturesManager.ts
index 336cda466cc..697e9c33dfa 100644
--- a/packages/dev/core/src/XR/webXRFeaturesManager.ts
+++ b/packages/dev/core/src/XR/webXRFeaturesManager.ts
@@ -1,6 +1,7 @@
 import type { WebXRSessionManager } from "./webXRSessionManager";
 import type { IDisposable } from "../scene";
 import { Tools } from "../Misc/tools";
+import type { Observable } from "core/Misc/observable";
 
 /**
  * Defining the interface required for a (webxr) feature
@@ -58,6 +59,15 @@ export interface IWebXRFeature extends IDisposable {
      * If this feature requires to extend the XRSessionInit object, this function will return the partial XR session init object
      */
     getXRSessionInitExtension?: () => Promise<Partial<XRSessionInit>>;
+
+    /**
+     * Triggered when the feature is attached
+     */
+    onFeatureAttachObservable: Observable<IWebXRFeature>;
+    /**
+     * Triggered when the feature is detached
+     */
+    onFeatureDetachObservable: Observable<IWebXRFeature>;
 }
 
 /**
@@ -144,6 +154,10 @@ export class WebXRFeatureName {
      * The name of the WebXR Space Warp feature
      */
     public static readonly SPACE_WARP = "xr-space-warp";
+    /**
+     * The name of the WebXR Raw Camera Access feature
+     */
+    public static readonly RAW_CAMERA_ACCESS = "xr-raw-camera-access";
 }
 
 /**