How to preform Visual Inertial Odometry on a RPI3?

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Hello all, I wanted to track an objects position by fusing together input from a 9DoF sensor and a camera which would produce better outputs than either of the other alone. Problem is, I cannot find much tutorials pertaining to Visual Inertial Odometry (VIO) , only ones covering Visual Odometry (VO), which seems like only a but of a difference, but VO dosent use the 9DoF sensor, thereby giving me worse outputs. I want to be able to fuse their data, and therefore need a tutorial for VIO, not VO, which google seems to only give me. All input is appreciated, Thanks! =)