diff --git a/manycal/include/manycal/Registrations.h b/manycal/include/manycal/Registrations.h
index 7954b45..de07312 100644
--- a/manycal/include/manycal/Registrations.h
+++ b/manycal/include/manycal/Registrations.h
@@ -178,6 +178,7 @@ class TargetRegistration : public RegistrationBase
 	ros::Subscriber _odomSub;
 
 	ros::Time _lastTime;
+	bool _enableOdomPrior;
 	bool _isOdomInitialized;
 	VelocityIntegratorSE3 _velocityIntegrator;
 	PoseSE3::CovarianceMatrix _odomOffset;
diff --git a/manycal/src/Registrations.cpp b/manycal/src/Registrations.cpp
index 60d4941..9e6722b 100644
--- a/manycal/src/Registrations.cpp
+++ b/manycal/src/Registrations.cpp
@@ -38,12 +38,14 @@ TargetRegistration::TargetRegistration( const std::string& n,
 		GetParamRequired( ph, "odom_topic", topic );
 		GetParam( ph, "odom_cov_offset", _odomOffset,
 		          PoseSE3::CovarianceMatrix::Zero() );
+		GetParam( ph, "enable_odom_prior", _enableOdomPrior, false);
+		
 		_odomSub = nh.subscribe( topic,
-		                         buffLen,
-		                         &TargetRegistration::OdometryCallback,
-		                         this );
+	        	                 buffLen,
+	                	         &TargetRegistration::OdometryCallback,
+	                        	 this );
 		ROS_INFO_STREAM( "Target: " << _name << " subscribing to odometry on "
-		                            << topic );
+		       	                    << topic );
 
 		_poses = std::make_shared<OdomGraphType>( _graph, _optimizePose );
 	}
@@ -209,10 +211,24 @@ bool TargetRegistration::IsPoseInitialized( const ros::Time& time ) const
 
 void TargetRegistration::OdometryCallback( const nav_msgs::Odometry::ConstPtr& msg )
 {
-	PoseSE3::TangentVector vel = MsgToTangent( msg->twist.twist );
-	PoseSE3::CovarianceMatrix cov;
-	ParseMatrix( msg->twist.covariance, cov ); // TODO Check return?
-	_velocityIntegrator.BufferInfo( msg->header.stamp.toSec(), vel, cov );
+	if(_enableOdomPrior)
+	{
+		ros::Time time = msg->header.stamp;
+		PoseSE3 prior = MsgToPose( msg->pose.pose );
+		PoseSE3::CovarianceMatrix cov;
+		ParseMatrix ( msg->pose.covariance, cov ); 
+
+		isam::PoseSE3 p = PoseToIsam( prior );
+		_poses->CreatePrior( time, p, isam::Covariance( cov ) );
+			
+	}
+	else	
+	{
+		PoseSE3::TangentVector vel = MsgToTangent( msg->twist.twist );
+		PoseSE3::CovarianceMatrix cov;
+		ParseMatrix( msg->twist.covariance, cov ); // TODO Check return?
+		_velocityIntegrator.BufferInfo( msg->header.stamp.toSec(), vel, cov );
+	}
 }
 
 ExtrinsicsRegistration::ExtrinsicsRegistration( TargetRegistration& p,