diff --git a/yaml/vi_sensor_imu.yaml b/yaml/vi_sensor_imu.yaml
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+# IMU intrinsics:
+a_noise:                0.03      # standard deviation of Acceleration noise (same for all the axis) in m/s2
+w_noise:                0.05      # standard deviation of Gyroscope noise (same for all the axis) in rad/sec
+ab_initial_stdev:       0.1       # m/s2    - initial bias 
+wb_initial_stdev:       0.1       # rad/sec - initial bias 
+ab_rate_stdev:          0.001     # m/s2/sqrt(s)           
+wb_rate_stdev:          0.001     # rad/s/sqrt(s)