Implementation of KF based sensor fusion of gyro, accel and camera measurements. Refer to these blog posts for more detail:
http://www.telesens.co/2017/05/07/sensor-fusion-part-4/
http://www.telesens.co/2017/05/02/sensor-fusion-part-3-implementation-of-gyro-accel-sensor-fusion/
http://www.telesens.co/2017/04/30/sensor-fusion-part-2-combining-gyro-accel-data/
http://www.telesens.co/2017/04/27/sensor-fusion-part-1/
The main file to run is sim_gyro3.m. You may need Robotics and other toolkits for some Matlab functions.
I'm not actively working on sensor fusion anymore, so I won't be able to provide any support for this code.