Does the recfusion software/sdk have any dependency on imu data from the depth sensor to produce better reconstructed output?

I was using intel realsense d435 for scanning, whenever there is slight distubance in camera orientation I see that the bounding box changes its orientation and the reconstrution result looks bad. I have read that in absense of integrated imu the software compares captured frame data to determine camera orientation in real world. Thats why i have this doubt, can someone clarify? if there is a dependency for a imu data, I would consider going for intel d435i which has integrated imu.

Thank you.


RecFusion is not using IMU data.

Best regards,