By adding an IMU, your application can refine its depth detection in any situation where the camera is moving. This opens the door to rudimentary SLAM and tracking applications that allow for better alignment of point clouds. It also enables improved environmental awareness for robotics and drones. The use of an IMU facilitates registration and calibration for use cases involving handheld scanning systems and is also important in areas such as virtual and augmented reality, as well as drones. When using the D435i, our Intel RealSense SDK 2.0 provides IMU data that is timestamped to match our high-quality depth data.