I have some 50ms latency cameras at hand and a 800Hz IMU (gyro+accelerometer+magnetometer). I would like to know how exactly how I should do a sensor fusion of such an IMU and camera to fix the positional data from the IMU positional drift. I'm not able to find much resources online. The reason is that I don't want to go with just a camera due to its 50ms latency.
The optical markers for the camera can be LEDs, ORB-SLAM data or AruCo markers which I currently use and which add another few ms latency to the camera tracking.
Maybe there is even an existing library or documented implementation I can use?