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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? ​

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The easiest platform for a multi-modal sensor fusion is a continuous-time trajectory model. Please have a look at this repo and related papers. I believe that it should be state of the art implementation of what you are looking for.

Temporal difference between sensors can be estimated through a windowed trajectory optimization. Asynchronicity as well.

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