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Related topics:

http://answers.ros.org/question/221103/combine-imu-with-visual-odometry-using-rtabmap/ http://answers.ros.org/question/242417/sensor-fusion-of-imu-and-asus-for-rtab-map-with-robot_localization/ http://answers.ros.org/question/239646/build-a-map-with-husky-laser-and-kinectrealsense/

As mentioned in one of these posts, robot_localization package could be used to do a loosely sensor fusion of IMU and visual odometry. The launch file sensor_fusion.launch is a simple example combining Kinect+IMU with rtabmap.

cheers

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