Fusing IMU data with realsense d455 odometry using robot_localization

[dinossht]

Any experienced with fusing realsense d455 camera rgbd odometry with IMU data for stable odometry?

[matlabbe]

You may search for VIO (visual inertial odometry) approaches supporting D455, then connect their output to rtabmap node. If your question refereed to do it inside rtabmap, it doesn't do tightly-coupled VIO, so it doesn't appear as smooth than a VIO approach (though sometimes they can jump too).