diff --git a/CMakeLists.txt b/CMakeLists.txt
index 67ef6f0b03b6d7d9c8638a38439607ddb35b09d9..4c6e49d2fe919dabdaa1ff01f1ec18589edb8e52 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -1,5 +1,5 @@
 # Pre-requisites about cmake itself
-CMAKE_MINIMUM_REQUIRED(VERSION 2.6)
+CMAKE_MINimuM_REQUIRED(VERSION 2.6)
 
 if(COMMAND cmake_policy)
   cmake_policy(SET CMP0005 NEW) 
@@ -10,7 +10,7 @@ SET(CMAKE_MACOSX_RPATH 1)
 
 
 # The project name
-PROJECT(IMU)
+PROJECT(imu)
 set(PLUGIN_NAME "wolf${PROJECT_NAME}")
 
 
@@ -72,7 +72,7 @@ if(BUILD_TESTS)
 endif()
 
 MESSAGE("Starting ${PROJECT_NAME} CMakeLists ...")
-CMAKE_MINIMUM_REQUIRED(VERSION 2.8)
+CMAKE_MINimuM_REQUIRED(VERSION 2.8)
 
 #CMAKE modules
 
@@ -127,26 +127,26 @@ INCLUDE_DIRECTORIES(BEFORE "include")
 SET(HDRS_COMMON
   )
 SET(HDRS_MATH
-  include/IMU/math/IMU_tools.h
+  include/imu/math/imu_tools.h
   )
 SET(HDRS_UTILS
   )
 SET(HDRS_CAPTURE
-  include/IMU/capture/capture_IMU.h
+  include/imu/capture/capture_imu.h
   )
 SET(HDRS_FACTOR
-  include/IMU/factor/factor_IMU.h
+  include/imu/factor/factor_imu.h
   )
 SET(HDRS_FEATURE
-  include/IMU/feature/feature_IMU.h
+  include/imu/feature/feature_imu.h
   )
 SET(HDRS_LANDMARK
   )
 SET(HDRS_PROCESSOR
-  include/IMU/processor/processor_IMU.h
+  include/imu/processor/processor_imu.h
   )
 SET(HDRS_SENSOR
-  include/IMU/sensor/sensor_IMU.h
+  include/imu/sensor/sensor_imu.h
   )
 SET(HDRS_SOLVER
   )
@@ -158,35 +158,35 @@ SET(HDRS_DTASSC
 SET(SRCS_COMMON
   )
 SET(SRCS_MATH
-  include/IMU/math/IMU_tools.h
+  include/imu/math/imu_tools.h
   )
 SET(SRCS_UTILS
   )
 
 SET(SRCS_CAPTURE
-  src/capture/capture_IMU.cpp
+  src/capture/capture_imu.cpp
   )
 SET(SRCS_FACTOR
   )
 SET(SRCS_FEATURE
-  src/feature/feature_IMU.cpp
+  src/feature/feature_imu.cpp
   )
 SET(SRCS_LANDMARK
   )
 SET(SRCS_PROCESSOR
-  src/processor/processor_IMU.cpp
-  test/processor_IMU_UnitTester.cpp
+  src/processor/processor_imu.cpp
+  test/processor_imu_UnitTester.cpp
 )
 SET(SRCS_SENSOR
-  src/sensor/sensor_IMU.cpp
+  src/sensor/sensor_imu.cpp
   )
 SET(SRCS_DTASSC
   )
 SET(SRCS_SOLVER
   )
 SET(SRCS_YAML
-  src/yaml/processor_IMU_yaml.cpp
-  src/yaml/sensor_IMU_yaml.cpp
+  src/yaml/processor_imu_yaml.cpp
+  src/yaml/sensor_imu_yaml.cpp
   )
 #OPTIONALS
 #optional HDRS and SRCS
@@ -287,7 +287,7 @@ INSTALL(FILES ${HDRS_YAML}
 
 INSTALL(FILES ${PROJECT_NAME}.found
   DESTINATION include/iri-algorithms/wolf/plugin_${PROJECT_NAME})
-FILE(WRITE IMU.found "")
+FILE(WRITE imu.found "")
 
 INSTALL(FILES "${WOLF_CONFIG_DIR}/config.h"
   DESTINATION include/iri-algorithms/wolf/plugin_${PROJECT_NAME}/${PROJECT_NAME}/internal)
diff --git a/cmake_modules/wolfIMUConfig.cmake b/cmake_modules/wolfIMUConfig.cmake
deleted file mode 100644
index fbf1da76c0e046f7f925509176a6ef17fbdc8995..0000000000000000000000000000000000000000
--- a/cmake_modules/wolfIMUConfig.cmake
+++ /dev/null
@@ -1,79 +0,0 @@
-#edit the following line to add the librarie's header files
-FIND_PATH(
-    wolfIMU_INCLUDE_DIRS
-    NAMES IMU.found
-    PATHS /usr/local/include/iri-algorithms/wolf/plugin_IMU)
-IF(wolfIMU_INCLUDE_DIRS)
-  MESSAGE("Found wolf IMU include dirs: ${wolfIMU_INCLUDE_DIRS}")
-ELSE(wolfIMU_INCLUDE_DIRS)
-  MESSAGE("Couldn't find wolf IMU include dirs")
-ENDIF(wolfIMU_INCLUDE_DIRS)
-
-FIND_LIBRARY(
-    wolfIMU_LIBRARIES
-    NAMES libwolfIMU.so libwolfIMU.dylib
-    PATHS /usr/local/lib/iri-algorithms)
-IF(wolfIMU_LIBRARIES)
-  MESSAGE("Found wolf IMU lib: ${wolfIMU_LIBRARIES}")
-ELSE(wolfIMU_LIBRARIES)
-  MESSAGE("Couldn't find wolf IMU lib")
-ENDIF(wolfIMU_LIBRARIES)
-
-IF (wolfIMU_INCLUDE_DIRS AND wolfIMU_LIBRARIES)
-   SET(wolfIMU_FOUND TRUE)
- ELSE(wolfIMU_INCLUDE_DIRS AND wolfIMU_LIBRARIES)
-   set(wolfIMU_FOUND FALSE)
-ENDIF (wolfIMU_INCLUDE_DIRS AND wolfIMU_LIBRARIES)
-
-IF (wolfIMU_FOUND)
-   IF (NOT wolfIMU_FIND_QUIETLY)
-      MESSAGE(STATUS "Found wolf IMU: ${wolfIMU_LIBRARIES}")
-   ENDIF (NOT wolfIMU_FIND_QUIETLY)
-ELSE (wolfIMU_FOUND)
-   IF (wolfIMU_FIND_REQUIRED)
-      MESSAGE(FATAL_ERROR "Could not find wolf IMU")
-   ENDIF (wolfIMU_FIND_REQUIRED)
-ENDIF (wolfIMU_FOUND)
-
-
-macro(wolf_report_not_found REASON_MSG)
-  set(wolfIMU_FOUND FALSE)
-  unset(wolfIMU_INCLUDE_DIRS)
-  unset(wolfIMU_LIBRARIES)
-
-  # Reset the CMake module path to its state when this script was called.
-  set(CMAKE_MODULE_PATH ${CALLERS_CMAKE_MODULE_PATH})
-
-  # Note <package>_FIND_[REQUIRED/QUIETLY] variables defined by
-  # FindPackage() use the camelcase library name, not uppercase.
-  if (wolfIMU_FIND_QUIETLY)
-    message(STATUS "Failed to find wolf IMU- " ${REASON_MSG} ${ARGN})
-  else (wolfIMU_FIND_REQUIRED)
-    message(FATAL_ERROR "Failed to find wolf IMU - " ${REASON_MSG} ${ARGN})
-  else()
-    # Neither QUIETLY nor REQUIRED, use SEND_ERROR which emits an error
-    # that prevents generation, but continues configuration.
-    message(SEND_ERROR "Failed to find wolf IMU - " ${REASON_MSG} ${ARGN})
-  endif ()
-  return()
-endmacro(wolf_report_not_found)
-
-if(NOT wolfIMU_FOUND)
-  wolf_report_not_found("Something went wrong while setting up wolf IMU.")
-endif(NOT wolfIMU_FOUND)
-# Set the include directories for wolf (itself).
-set(wolfIMU_FOUND TRUE)
-
-# Now we gather all the required dependencies for Wolf IMU
-if(NOT wolf_FOUND)
-  FIND_PACKAGE(wolf REQUIRED)
-
-  #We reverse in order to insert at the start
-  list(REVERSE wolfIMU_INCLUDE_DIRS)
-  list(APPEND wolfIMU_INCLUDE_DIRS ${wolf_INCLUDE_DIRS})
-  list(REVERSE wolfIMU_INCLUDE_DIRS)
-
-  list(REVERSE wolfIMU_LIBRARIES)
-  list(APPEND wolfIMU_LIBRARIES ${wolf_LIBRARIES})
-  list(REVERSE wolfIMU_LIBRARIES)
-endif()
diff --git a/cmake_modules/wolfimuConfig.cmake b/cmake_modules/wolfimuConfig.cmake
new file mode 100644
index 0000000000000000000000000000000000000000..a671544bc37e09358bb5d859d9d2c4d636a455bd
--- /dev/null
+++ b/cmake_modules/wolfimuConfig.cmake
@@ -0,0 +1,79 @@
+#edit the following line to add the librarie's header files
+FIND_PATH(
+    wolfimu_INCLUDE_DIRS
+    NAMES imu.found
+    PATHS /usr/local/include/iri-algorithms/wolf/plugin_imu)
+IF(wolfimu_INCLUDE_DIRS)
+  MESSAGE("Found wolf imu include dirs: ${wolfimu_INCLUDE_DIRS}")
+ELSE(wolfimu_INCLUDE_DIRS)
+  MESSAGE("Couldn't find wolf imu include dirs")
+ENDIF(wolfimu_INCLUDE_DIRS)
+
+FIND_LIBRARY(
+    wolfimu_LIBRARIES
+    NAMES libwolfimu.so libwolfimu.dylib
+    PATHS /usr/local/lib/iri-algorithms)
+IF(wolfimu_LIBRARIES)
+  MESSAGE("Found wolf imu lib: ${wolfimu_LIBRARIES}")
+ELSE(wolfimu_LIBRARIES)
+  MESSAGE("Couldn't find wolf imu lib")
+ENDIF(wolfimu_LIBRARIES)
+
+IF (wolfimu_INCLUDE_DIRS AND wolfimu_LIBRARIES)
+   SET(wolfimu_FOUND TRUE)
+ ELSE(wolfimu_INCLUDE_DIRS AND wolfimu_LIBRARIES)
+   set(wolfimu_FOUND FALSE)
+ENDIF (wolfimu_INCLUDE_DIRS AND wolfimu_LIBRARIES)
+
+IF (wolfimu_FOUND)
+   IF (NOT wolfimu_FIND_QUIETLY)
+      MESSAGE(STATUS "Found wolf imu: ${wolfimu_LIBRARIES}")
+   ENDIF (NOT wolfimu_FIND_QUIETLY)
+ELSE (wolfimu_FOUND)
+   IF (wolfimu_FIND_REQUIRED)
+      MESSAGE(FATAL_ERROR "Could not find wolf imu")
+   ENDIF (wolfimu_FIND_REQUIRED)
+ENDIF (wolfimu_FOUND)
+
+
+macro(wolf_report_not_found REASON_MSG)
+  set(wolfimu_FOUND FALSE)
+  unset(wolfimu_INCLUDE_DIRS)
+  unset(wolfimu_LIBRARIES)
+
+  # Reset the CMake module path to its state when this script was called.
+  set(CMAKE_MODULE_PATH ${CALLERS_CMAKE_MODULE_PATH})
+
+  # Note <package>_FIND_[REQUIRED/QUIETLY] variables defined by
+  # FindPackage() use the camelcase library name, not uppercase.
+  if (wolfimu_FIND_QUIETLY)
+    message(STATUS "Failed to find wolf imu- " ${REASON_MSG} ${ARGN})
+  else (wolfimu_FIND_REQUIRED)
+    message(FATAL_ERROR "Failed to find wolf imu - " ${REASON_MSG} ${ARGN})
+  else()
+    # Neither QUIETLY nor REQUIRED, use SEND_ERROR which emits an error
+    # that prevents generation, but continues configuration.
+    message(SEND_ERROR "Failed to find wolf imu - " ${REASON_MSG} ${ARGN})
+  endif ()
+  return()
+endmacro(wolf_report_not_found)
+
+if(NOT wolfimu_FOUND)
+  wolf_report_not_found("Something went wrong while setting up wolf imu.")
+endif(NOT wolfimu_FOUND)
+# Set the include directories for wolf (itself).
+set(wolfimu_FOUND TRUE)
+
+# Now we gather all the required dependencies for Wolf imu
+if(NOT wolf_FOUND)
+  FIND_PACKAGE(wolf REQUIRED)
+
+  #We reverse in order to insert at the start
+  list(REVERSE wolfimu_INCLUDE_DIRS)
+  list(APPEND wolfimu_INCLUDE_DIRS ${wolf_INCLUDE_DIRS})
+  list(REVERSE wolfimu_INCLUDE_DIRS)
+
+  list(REVERSE wolfimu_LIBRARIES)
+  list(APPEND wolfimu_LIBRARIES ${wolf_LIBRARIES})
+  list(REVERSE wolfimu_LIBRARIES)
+endif()
diff --git a/demos/demo_factor_imu.cpp b/demos/demo_factor_imu.cpp
index f99b44448fb07d337a0319b3bb451560daf19c76..0a09c665e1fe8d18292019ded6d91e6e7ef33543 100644
--- a/demos/demo_factor_imu.cpp
+++ b/demos/demo_factor_imu.cpp
@@ -1,7 +1,7 @@
 //Wolf
-#include "core/capture/capture_IMU.h"
-#include "core/processor/processor_IMU.h"
-#include "core/sensor/sensor_IMU.h"
+#include "core/capture/capture_imu.h"
+#include "core/processor/processor_imu.h"
+#include "core/sensor/sensor_imu.h"
 #include "core/capture/capture_pose.h"
 #include "core/common/wolf.h"
 #include "core/problem/problem.h"
diff --git a/demos/demo_imuDock.cpp b/demos/demo_imuDock.cpp
index 6c3d190af92ff9606d20ee1bb2cf7a879b2b16fd..73f693e491acf81eb4020cfc99099f66f09ed94e 100644
--- a/demos/demo_imuDock.cpp
+++ b/demos/demo_imuDock.cpp
@@ -5,8 +5,8 @@
  *      \author: Dinesh Atchuthan
  */
 
-#include "core/processor/processor_IMU.h"
-#include "core/sensor/sensor_IMU.h"
+#include "core/processor/processor_imu.h"
+#include "core/sensor/sensor_imu.h"
 #include "core/common/wolf.h"
 #include "core/problem/problem.h"
 #include "core/ceres_wrapper/ceres_manager.h"
diff --git a/demos/demo_imuDock_autoKFs.cpp b/demos/demo_imuDock_autoKFs.cpp
index c22345556e017078596b7f813be05fa9474967d4..cfd482b6faea95d6bd606c04fdc1e9370ba9a837 100644
--- a/demos/demo_imuDock_autoKFs.cpp
+++ b/demos/demo_imuDock_autoKFs.cpp
@@ -5,8 +5,8 @@
  *      \author: Dinesh Atchuthan
  */
 
-#include "core/processor/processor_IMU.h"
-#include "core/sensor/sensor_IMU.h"
+#include "core/processor/processor_imu.h"
+#include "core/sensor/sensor_imu.h"
 #include "core/common/wolf.h"
 #include "core/problem/problem.h"
 #include "core/ceres_wrapper/ceres_manager.h"
diff --git a/demos/demo_imuPlateform_Offline.cpp b/demos/demo_imuPlateform_Offline.cpp
index 0b98b3e9675c6c0bf0a3ca1c559d4e4fbcc70f02..a118fdedc2a933e21469981312f37c799ba03619 100644
--- a/demos/demo_imuPlateform_Offline.cpp
+++ b/demos/demo_imuPlateform_Offline.cpp
@@ -1,7 +1,7 @@
 //Wolf
-#include "core/capture/capture_IMU.h"
-#include "core/processor/processor_IMU.h"
-#include "core/sensor/sensor_IMU.h"
+#include "core/capture/capture_imu.h"
+#include "core/processor/processor_imu.h"
+#include "core/sensor/sensor_imu.h"
 #include "core/common/wolf.h"
 #include "core/problem/problem.h"
 #include "core/sensor/sensor_odom_3D.h"
diff --git a/demos/demo_imu_constrained0.cpp b/demos/demo_imu_constrained0.cpp
index cff689aaf16c1e4692c79f27f2becf56827acca3..e4fa5097faa18a6eae788fd91b269f82a5575889 100644
--- a/demos/demo_imu_constrained0.cpp
+++ b/demos/demo_imu_constrained0.cpp
@@ -1,7 +1,7 @@
 //Wolf
-#include "core/capture/capture_IMU.h"
-#include "core/processor/processor_IMU.h"
-#include "core/sensor/sensor_IMU.h"
+#include "core/capture/capture_imu.h"
+#include "core/processor/processor_imu.h"
+#include "core/sensor/sensor_imu.h"
 #include "core/common/wolf.h"
 #include "core/problem/problem.h"
 #include "core/sensor/sensor_odom_3D.h"
diff --git a/demos/demo_processor_imu.cpp b/demos/demo_processor_imu.cpp
index e6062abbc6310e580e1623b9c01d851e4184a988..1a316f6f1f2f5119f945b45996c8a33ec4a0f3e2 100644
--- a/demos/demo_processor_imu.cpp
+++ b/demos/demo_processor_imu.cpp
@@ -6,9 +6,9 @@
  */
 
 //Wolf
-#include "core/capture/capture_IMU.h"
-#include "core/processor/processor_IMU.h"
-#include "core/sensor/sensor_IMU.h"
+#include "core/capture/capture_imu.h"
+#include "core/processor/processor_imu.h"
+#include "core/sensor/sensor_imu.h"
 #include "core/common/wolf.h"
 #include "core/problem/problem.h"
 #include "core/state_block/state_block.h"
diff --git a/demos/demo_processor_imu_jacobians.cpp b/demos/demo_processor_imu_jacobians.cpp
index 3555fa9c8f96c337e7375588684cdbb55bd29383..0fb08c404599016f872ad6d0f69691de5b519d98 100644
--- a/demos/demo_processor_imu_jacobians.cpp
+++ b/demos/demo_processor_imu_jacobians.cpp
@@ -6,9 +6,9 @@
  */
 
 //Wolf
-#include "core/capture/capture_IMU.h"
-#include "core/sensor/sensor_IMU.h"
-#include <test/processor_IMU_UnitTester.h>
+#include "core/capture/capture_imu.h"
+#include "core/sensor/sensor_imu.h"
+#include <test/processor_imu_UnitTester.h>
 #include "core/common/wolf.h"
 #include "core/problem/problem.h"
 #include "core/state_block/state_block.h"
diff --git a/include/IMU/capture/capture_IMU.h b/include/imu/capture/capture_imu.h
similarity index 97%
rename from include/IMU/capture/capture_IMU.h
rename to include/imu/capture/capture_imu.h
index c5c3174f954668ec3aa3ac29e89715f20cc8a7c4..ef150f8b9916696d990718a7558feb45f46fd812 100644
--- a/include/IMU/capture/capture_IMU.h
+++ b/include/imu/capture/capture_imu.h
@@ -2,7 +2,7 @@
 #define CAPTURE_IMU_H
 
 //Wolf includes
-#include "IMU/math/IMU_tools.h"
+#include "imu/math/imu_tools.h"
 #include "core/capture/capture_motion.h"
 
 namespace wolf {
diff --git a/include/IMU/factor/factor_fix_bias.h b/include/imu/factor/factor_fix_bias.h
similarity index 97%
rename from include/IMU/factor/factor_fix_bias.h
rename to include/imu/factor/factor_fix_bias.h
index 13150f83dab99d269a534c450d623a02981442fa..9292e92374a862a41b67eb37f4a1a05669a88602 100644
--- a/include/IMU/factor/factor_fix_bias.h
+++ b/include/imu/factor/factor_fix_bias.h
@@ -3,8 +3,8 @@
 #define FACTOR_FIX_BIAS_H_
 
 //Wolf includes
-#include "IMU/capture/capture_IMU.h"
-#include "IMU/feature/feature_IMU.h"
+#include "imu/capture/capture_imu.h"
+#include "imu/feature/feature_imu.h"
 #include "core/factor/factor_autodiff.h"
 #include "core/frame/frame_base.h"
 #include "core/math/rotations.h"
diff --git a/include/IMU/factor/factor_IMU.h b/include/imu/factor/factor_imu.h
similarity index 99%
rename from include/IMU/factor/factor_IMU.h
rename to include/imu/factor/factor_imu.h
index 60c94a9288d45d337d61280dc8d4d007cfa53101..63df0350702725c2ee127a8a1f52d579f61fba73 100644
--- a/include/IMU/factor/factor_IMU.h
+++ b/include/imu/factor/factor_imu.h
@@ -2,8 +2,8 @@
 #define FACTOR_IMU_THETA_H_
 
 //Wolf includes
-#include "IMU/feature/feature_IMU.h"
-#include "IMU/sensor/sensor_IMU.h"
+#include "imu/feature/feature_imu.h"
+#include "imu/sensor/sensor_imu.h"
 #include "core/factor/factor_autodiff.h"
 #include "core/math/rotations.h"
 
diff --git a/include/IMU/feature/feature_IMU.h b/include/imu/feature/feature_imu.h
similarity index 98%
rename from include/IMU/feature/feature_IMU.h
rename to include/imu/feature/feature_imu.h
index 6497213dc85c6996930208a48d64b479152c34a8..3f45dd14aa613248b59211122567c72117eb77b3 100644
--- a/include/IMU/feature/feature_IMU.h
+++ b/include/imu/feature/feature_imu.h
@@ -2,7 +2,7 @@
 #define FEATURE_IMU_H_
 
 //Wolf includes
-#include "IMU/capture/capture_IMU.h"
+#include "imu/capture/capture_imu.h"
 #include "core/feature/feature_base.h"
 #include "core/common/wolf.h"
 
diff --git a/include/IMU/math/IMU_tools.h b/include/imu/math/imu_tools.h
similarity index 100%
rename from include/IMU/math/IMU_tools.h
rename to include/imu/math/imu_tools.h
diff --git a/include/IMU/processor/processor_IMU.h b/include/imu/processor/processor_imu.h
similarity index 98%
rename from include/IMU/processor/processor_IMU.h
rename to include/imu/processor/processor_imu.h
index 92aa170a89781a114e9d446acce55c6f5b24b12b..0cb27344610485b91f45770b32370faa81d4ab8d 100644
--- a/include/IMU/processor/processor_IMU.h
+++ b/include/imu/processor/processor_imu.h
@@ -2,8 +2,8 @@
 #define PROCESSOR_IMU_H
 
 // Wolf
-#include "IMU/capture/capture_IMU.h"
-#include "IMU/feature/feature_IMU.h"
+#include "imu/capture/capture_imu.h"
+#include "imu/feature/feature_imu.h"
 #include "core/processor/processor_motion.h"
 
 namespace wolf {
diff --git a/include/IMU/sensor/sensor_IMU.h b/include/imu/sensor/sensor_imu.h
similarity index 100%
rename from include/IMU/sensor/sensor_IMU.h
rename to include/imu/sensor/sensor_imu.h
diff --git a/src/capture/capture_IMU.cpp b/src/capture/capture_imu.cpp
similarity index 93%
rename from src/capture/capture_IMU.cpp
rename to src/capture/capture_imu.cpp
index dfdc45a93e3e1357f6fb701cec6aaf0ff713a36e..08e7dbc3cc90b9f81707f8677be6a5c6219601f8 100644
--- a/src/capture/capture_IMU.cpp
+++ b/src/capture/capture_imu.cpp
@@ -1,5 +1,5 @@
-#include "IMU/capture/capture_IMU.h"
-#include "IMU/sensor/sensor_IMU.h"
+#include "imu/capture/capture_imu.h"
+#include "imu/sensor/sensor_imu.h"
 #include "core/state_block/state_quaternion.h"
 
 namespace wolf {
diff --git a/src/feature/feature_IMU.cpp b/src/feature/feature_imu.cpp
similarity index 96%
rename from src/feature/feature_IMU.cpp
rename to src/feature/feature_imu.cpp
index cf1773d645c2532caadd3d7b8af664260b84cf3e..405c1403b71a75df4f93d3ce402b8828b5697dfa 100644
--- a/src/feature/feature_IMU.cpp
+++ b/src/feature/feature_imu.cpp
@@ -1,4 +1,4 @@
-#include "IMU/feature/feature_IMU.h"
+#include "imu/feature/feature_imu.h"
 
 namespace wolf {
 
diff --git a/src/processor/processor_IMU.cpp b/src/processor/processor_imu.cpp
similarity index 96%
rename from src/processor/processor_IMU.cpp
rename to src/processor/processor_imu.cpp
index 4a72c446c412c768aea00d03a757aae3e6342030..48e737fd79e53aed2e703795f30fac141dab2a7c 100644
--- a/src/processor/processor_IMU.cpp
+++ b/src/processor/processor_imu.cpp
@@ -1,12 +1,13 @@
 // wolf
-#include "IMU/processor/processor_IMU.h"
-#include "IMU/factor/factor_IMU.h"
-#include "IMU/math/IMU_tools.h"
+#include "imu/processor/processor_imu.h"
+#include "imu/factor/factor_imu.h"
+#include "imu/math/imu_tools.h"
 
 namespace wolf {
 
 ProcessorIMU::ProcessorIMU(ProcessorParamsIMUPtr _params_motion_IMU) :
-        ProcessorMotion("ProcessorImu", 3, 10, 10, 9, 6, 6, _params_motion_IMU),
+        // ProcessorMotion("ProcessorImu", 3, 10, 10, 9, 6, 6, _params_motion_IMU),
+        ProcessorMotion("ProcessorImu", 10, 10, 9, 6, 6, _params_motion_IMU),
         params_motion_IMU_(std::make_shared<ProcessorParamsIMU>(*_params_motion_IMU))
 {
     // Set constant parts of Jacobians
diff --git a/src/sensor/sensor_IMU.cpp b/src/sensor/sensor_imu.cpp
similarity index 97%
rename from src/sensor/sensor_IMU.cpp
rename to src/sensor/sensor_imu.cpp
index cb42c09812018b8fa31f40cce479627f8098850c..cff4178c9975f0282ae25df7522aef37bc11a3a1 100644
--- a/src/sensor/sensor_IMU.cpp
+++ b/src/sensor/sensor_imu.cpp
@@ -1,4 +1,4 @@
-#include "IMU/sensor/sensor_IMU.h"
+#include "imu/sensor/sensor_imu.h"
 #include "core/state_block/state_block.h"
 #include "core/state_block/state_quaternion.h"
 
diff --git a/src/yaml/processor_IMU_yaml.cpp b/src/yaml/processor_imu_yaml.cpp
similarity index 97%
rename from src/yaml/processor_IMU_yaml.cpp
rename to src/yaml/processor_imu_yaml.cpp
index 681f7243402ac81745651cd88ed065123a482347..d4756a4dd0b6e7b0b7e705e993d52334a432249c 100644
--- a/src/yaml/processor_IMU_yaml.cpp
+++ b/src/yaml/processor_imu_yaml.cpp
@@ -6,7 +6,7 @@
  */
 
 // wolf yaml
-#include "IMU/processor/processor_IMU.h"
+#include "imu/processor/processor_imu.h"
 #include "core/yaml/yaml_conversion.h"
 
 // wolf
diff --git a/src/yaml/sensor_IMU_yaml.cpp b/src/yaml/sensor_imu_yaml.cpp
similarity index 97%
rename from src/yaml/sensor_IMU_yaml.cpp
rename to src/yaml/sensor_imu_yaml.cpp
index 89d7c382f48d8202fa439009ba9ff3a5191cb3e9..575ec70054732295e3f6126d93918e11d406baf5 100644
--- a/src/yaml/sensor_IMU_yaml.cpp
+++ b/src/yaml/sensor_imu_yaml.cpp
@@ -6,7 +6,7 @@
  */
 
 // wolf yaml
-#include "IMU/sensor/sensor_IMU.h"
+#include "imu/sensor/sensor_imu.h"
 #include "core/yaml/yaml_conversion.h"
 
 // wolf
diff --git a/test/CMakeLists.txt b/test/CMakeLists.txt
index 266bdfb1e5e5e3faf8adf566570285b0be5eee57..35a9d415d3016f1b4849c398d8ad9aabeff12f85 100644
--- a/test/CMakeLists.txt
+++ b/test/CMakeLists.txt
@@ -13,22 +13,22 @@ target_link_libraries(gtest_example ${PLUGIN_NAME})      #
 #                                                         #
 ###########################################################
 
-wolf_add_gtest(gtest_processor_IMU gtest_processor_IMU.cpp)
-target_link_libraries(gtest_processor_IMU ${PLUGIN_NAME} ${wolf_LIBRARY})
+wolf_add_gtest(gtest_processor_imu gtest_processor_imu.cpp)
+target_link_libraries(gtest_processor_imu ${PLUGIN_NAME} ${wolf_LIBRARY})
 
-wolf_add_gtest(gtest_IMU gtest_IMU.cpp)
-target_link_libraries(gtest_IMU ${PLUGIN_NAME} ${wolf_LIBRARY})
+wolf_add_gtest(gtest_imu gtest_imu.cpp)
+target_link_libraries(gtest_imu ${PLUGIN_NAME} ${wolf_LIBRARY})
 
-wolf_add_gtest(gtest_IMU_tools gtest_IMU_tools.cpp)
-target_link_libraries(gtest_IMU_tools ${PLUGIN_NAME} ${wolf_LIBRARY})
+wolf_add_gtest(gtest_imu_tools gtest_imu_tools.cpp)
+target_link_libraries(gtest_imu_tools ${PLUGIN_NAME} ${wolf_LIBRARY})
 
-wolf_add_gtest(gtest_processor_IMU_jacobians gtest_processor_IMU_jacobians.cpp)
-target_link_libraries(gtest_processor_IMU_jacobians ${PLUGIN_NAME} ${wolf_LIBRARY})
+wolf_add_gtest(gtest_processor_imu_jacobians gtest_processor_imu_jacobians.cpp)
+target_link_libraries(gtest_processor_imu_jacobians ${PLUGIN_NAME} ${wolf_LIBRARY})
 
-wolf_add_gtest(gtest_feature_IMU gtest_feature_IMU.cpp)
-target_link_libraries(gtest_feature_IMU ${PLUGIN_NAME} ${wolf_LIBRARY})
+wolf_add_gtest(gtest_feature_imu gtest_feature_imu.cpp)
+target_link_libraries(gtest_feature_imu ${PLUGIN_NAME} ${wolf_LIBRARY})
 
 # Has been excluded from tests for god knows how long, so thing is broken.
 # Maybe call an archeologist to fix this thing?
-# wolf_add_gtest(gtest_factor_IMU gtest_factor_IMU.cpp)
-# target_link_libraries(gtest_factor_IMU ${PLUGIN_NAME} ${wolf_LIBRARY})
+# wolf_add_gtest(gtest_factor_imu gtest_factor_imu.cpp)
+# target_link_libraries(gtest_factor_imu ${PLUGIN_NAME} ${wolf_LIBRARY})
diff --git a/test/gtest_factor_IMU.cpp b/test/gtest_factor_imu.cpp
similarity index 99%
rename from test/gtest_factor_IMU.cpp
rename to test/gtest_factor_imu.cpp
index 2c70a6321acd19833615e20d782341e54bfaad84..b734f7665eb3b219d296e64c915c9847ca00891f 100644
--- a/test/gtest_factor_IMU.cpp
+++ b/test/gtest_factor_imu.cpp
@@ -10,9 +10,9 @@
 
 // IMU
 #include "imu/internal/config.h"
-#include "imu/capture/capture_IMU.h"
-#include "imu/processor/processor_IMU.h"
-#include "imu/sensor/sensor_IMU.h"
+#include "imu/capture/capture_imu.h"
+#include "imu/processor/processor_imu.h"
+#include "imu/sensor/sensor_imu.h"
 
 //Wolf
 #include <core/factor/factor_pose_3D.h>
diff --git a/test/gtest_feature_IMU.cpp b/test/gtest_feature_imu.cpp
similarity index 98%
rename from test/gtest_feature_IMU.cpp
rename to test/gtest_feature_imu.cpp
index ba537cc567b516cbc4ee5470644b2d059296e372..41a5599ec3032fda5ee408368afd9c7f0541f7d4 100644
--- a/test/gtest_feature_IMU.cpp
+++ b/test/gtest_feature_imu.cpp
@@ -1,7 +1,7 @@
 //Wolf
-#include "IMU/capture/capture_IMU.h"
-#include "IMU/processor/processor_IMU.h"
-#include "IMU/sensor/sensor_IMU.h"
+#include "imu/capture/capture_imu.h"
+#include "imu/processor/processor_imu.h"
+#include "imu/sensor/sensor_imu.h"
 #include "core/common/wolf.h"
 #include "core/problem/problem.h"
 #include "core/state_block/state_block.h"
diff --git a/test/gtest_IMU.cpp b/test/gtest_imu.cpp
similarity index 99%
rename from test/gtest_IMU.cpp
rename to test/gtest_imu.cpp
index 52aff0fcd243ed30cd602af4e4f801a0e7347e42..48fb83e9fe737427b43e6b128eae35d5824948ca 100644
--- a/test/gtest_IMU.cpp
+++ b/test/gtest_imu.cpp
@@ -6,10 +6,10 @@
  */
 
 //Wolf
-#include "IMU/processor/processor_IMU.h"
-#include "IMU/sensor/sensor_IMU.h"
+#include "imu/processor/processor_imu.h"
+#include "imu/sensor/sensor_imu.h"
 
-#include "IMU/internal/config.h"
+#include "imu/internal/config.h"
 
 #include <core/common/wolf.h>
 #include <core/sensor/sensor_odom_3D.h>
diff --git a/test/gtest_IMU_tools.cpp b/test/gtest_imu_tools.cpp
similarity index 99%
rename from test/gtest_IMU_tools.cpp
rename to test/gtest_imu_tools.cpp
index 16730096e0e31900010b18a13ca11c1ffa21a20a..da88317f0e3dae17d26ee59670f2d25e8bc65518 100644
--- a/test/gtest_IMU_tools.cpp
+++ b/test/gtest_imu_tools.cpp
@@ -5,7 +5,7 @@
  *      Author: jsola
  */
 
-#include "IMU/math/IMU_tools.h"
+#include "imu/math/imu_tools.h"
 #include <core/utils/utils_gtest.h>
 
 using namespace Eigen;
diff --git a/test/gtest_processor_IMU.cpp b/test/gtest_processor_imu.cpp
similarity index 99%
rename from test/gtest_processor_IMU.cpp
rename to test/gtest_processor_imu.cpp
index 1f059b193f8e5fbf5f96f5024543223ffa0840c2..49e4cfd46dec4a01b3db2d4d3d03b40cc38299ab 100644
--- a/test/gtest_processor_IMU.cpp
+++ b/test/gtest_processor_imu.cpp
@@ -5,10 +5,10 @@
  *      \author: jsola
  */
 
-#include "IMU/capture/capture_IMU.h"
-#include "IMU/processor/processor_IMU.h"
-#include "IMU/sensor/sensor_IMU.h"
-#include "IMU/internal/config.h"
+#include "imu/capture/capture_imu.h"
+#include "imu/processor/processor_imu.h"
+#include "imu/sensor/sensor_imu.h"
+#include "imu/internal/config.h"
 
 #include "core/common/wolf.h"
 
diff --git a/test/gtest_processor_IMU_jacobians.cpp b/test/gtest_processor_imu_jacobians.cpp
similarity index 99%
rename from test/gtest_processor_IMU_jacobians.cpp
rename to test/gtest_processor_imu_jacobians.cpp
index 19a7b783fbb6bc99ca5710ccb52253a02185d335..66fb7ae9f802477522622439e657ba7e549833bd 100644
--- a/test/gtest_processor_IMU_jacobians.cpp
+++ b/test/gtest_processor_imu_jacobians.cpp
@@ -6,9 +6,9 @@
  */
 
  //Wolf
-#include "IMU/capture/capture_IMU.h"
-#include "IMU/sensor/sensor_IMU.h"
-#include "processor_IMU_UnitTester.h"
+#include "imu/capture/capture_imu.h"
+#include "imu/sensor/sensor_imu.h"
+#include "processor_imu_UnitTester.h"
 #include "core/common/wolf.h"
 #include "core/problem/problem.h"
 #include "core/state_block/state_block.h"
diff --git a/test/processor_IMU_UnitTester.cpp b/test/processor_imu_UnitTester.cpp
similarity index 86%
rename from test/processor_IMU_UnitTester.cpp
rename to test/processor_imu_UnitTester.cpp
index aa4f46db66546395e9b4d07920407e2c0b52a597..46881c51161d93cf31ad5907ce3b427438bc7c36 100644
--- a/test/processor_IMU_UnitTester.cpp
+++ b/test/processor_imu_UnitTester.cpp
@@ -1,4 +1,4 @@
-#include "processor_IMU_UnitTester.h"
+#include "processor_imu_UnitTester.h"
 
 namespace wolf {
 
diff --git a/test/processor_IMU_UnitTester.h b/test/processor_imu_UnitTester.h
similarity index 99%
rename from test/processor_IMU_UnitTester.h
rename to test/processor_imu_UnitTester.h
index ccfc60fd4579b33786990d1ca2c888920c12a15a..fb4de710d0b49e14012b5cdca61af01df5dcd9c2 100644
--- a/test/processor_IMU_UnitTester.h
+++ b/test/processor_imu_UnitTester.h
@@ -3,7 +3,7 @@
 #define PROCESSOR_IMU_UNITTESTER_H
 
 // Wolf
-#include "IMU/processor/processor_IMU.h"
+#include "imu/processor/processor_imu.h"
 #include "core/processor/processor_motion.h"
 
 namespace wolf {