diff --git a/dimos/hardware/sensors/camera/module.py b/dimos/hardware/sensors/camera/module.py
index 6f51febfef..a6858f339c 100644
--- a/dimos/hardware/sensors/camera/module.py
+++ b/dimos/hardware/sensors/camera/module.py
@@ -19,10 +19,13 @@
 
 import reactivex as rx
 from reactivex import operators as ops
+import rerun as rr
 
 from dimos.agents import Output, Reducer, Stream, skill
 from dimos.core import Module, ModuleConfig, Out, rpc
 from dimos.core.blueprints import autoconnect
+from dimos.core.global_config import GlobalConfig
+from dimos.dashboard.rerun_init import connect_rerun
 from dimos.hardware.sensors.camera.spec import CameraHardware
 from dimos.hardware.sensors.camera.webcam import Webcam
 from dimos.msgs.geometry_msgs import Quaternion, Transform, Vector3
@@ -58,8 +61,9 @@ class CameraModule(Module[CameraModuleConfig], perception.Camera):
     config: CameraModuleConfig
     default_config = CameraModuleConfig
 
-    def __init__(self, *args: Any, **kwargs: Any) -> None:
+    def __init__(self, *args: Any, global_config: GlobalConfig, **kwargs: Any) -> None:
         super().__init__(*args, **kwargs)
+        self.global_config = global_config
 
     @rpc
     def start(self) -> None:
@@ -73,8 +77,17 @@ def start(self) -> None:
         if self.config.frequency > 0:
             stream = stream.pipe(sharpness_barrier(self.config.frequency))
 
+        # Connect this worker process to Rerun if it will log sensor data.
+        if self.global_config.viewer_backend.startswith("rerun"):
+            connect_rerun(global_config=self.global_config)
+
+        def callback(image: Image) -> None:
+            self.color_image.publish(image)
+            if self.global_config.viewer_backend.startswith("rerun"):
+                rr.log("world/robot/camera/rgb", image.to_rerun())
+
         self._disposables.add(
-            stream.subscribe(self.color_image.publish),
+            stream.subscribe(callback),
         )
 
         self._disposables.add(