Is it possible to increase odometry/slam rate past camera rate?

[jorb-g]

If I understand correctly, an IMU is (for now) essentially a failover to be used in case visual tracking is lost; does this mean that pose calculations are done exclusively using the stereo camera while tracking is available, and until proper visual-inertial fusion is implemented, the rate of publication for odometry messages will exactly match the image publication rate?
Thanks!