diff --git a/data/euroc_config.json b/data/euroc_config.json
index 2fee0d4..dcb40ff 100644
--- a/data/euroc_config.json
+++ b/data/euroc_config.json
@@ -19,7 +19,7 @@
         "config.vio_outlier_threshold": 3.0,
         "config.vio_filter_iteration": 4,
         "config.vio_max_iterations": 7,
-        
+        "config.vio_enforce_realtime": false,
 
         "config.mapper_obs_std_dev": 0.25,
         "config.mapper_obs_huber_thresh": 1.5,
diff --git a/data/euroc_config_no_weights.json b/data/euroc_config_no_weights.json
index 76f377c..91231c1 100644
--- a/data/euroc_config_no_weights.json
+++ b/data/euroc_config_no_weights.json
@@ -19,7 +19,7 @@
         "config.vio_outlier_threshold": 3.0,
         "config.vio_filter_iteration": 4,
         "config.vio_max_iterations": 7,
-        
+        "config.vio_enforce_realtime": false,
 
         "config.mapper_obs_std_dev": 0.25,
         "config.mapper_obs_huber_thresh": 1.5,
diff --git a/data/tumvi_512_config.json b/data/tumvi_512_config.json
index de31800..4ba4452 100644
--- a/data/tumvi_512_config.json
+++ b/data/tumvi_512_config.json
@@ -20,6 +20,7 @@
         "config.vio_outlier_threshold": 3.0,
         "config.vio_filter_iteration": 4,
         "config.vio_max_iterations": 7,
+        "config.vio_enforce_realtime": false,
 
         "config.mapper_obs_std_dev": 0.25,
         "config.mapper_obs_huber_thresh": 1.5,
diff --git a/include/basalt/utils/vio_config.h b/include/basalt/utils/vio_config.h
index 6d79528..6fd4ce4 100644
--- a/include/basalt/utils/vio_config.h
+++ b/include/basalt/utils/vio_config.h
@@ -66,6 +66,8 @@ struct VioConfig {
   double vio_obs_huber_thresh;
   double vio_min_triangulation_dist;
 
+  bool vio_enforce_realtime;
+
   double mapper_obs_std_dev;
   double mapper_obs_huber_thresh;
   int mapper_detection_num_points;
diff --git a/src/utils/vio_config.cpp b/src/utils/vio_config.cpp
index 9b7c272..6ed56a1 100644
--- a/src/utils/vio_config.cpp
+++ b/src/utils/vio_config.cpp
@@ -66,6 +66,8 @@ VioConfig::VioConfig() {
   vio_filter_iteration = 4;
   vio_max_iterations = 7;
 
+  vio_enforce_realtime = false;
+
   mapper_obs_std_dev = 0.25;
   mapper_obs_huber_thresh = 1.5;
   mapper_detection_num_points = 800;
@@ -128,6 +130,8 @@ void serialize(Archive& ar, basalt::VioConfig& config) {
   ar(CEREAL_NVP(config.vio_obs_huber_thresh));
   ar(CEREAL_NVP(config.vio_min_triangulation_dist));
 
+  ar(CEREAL_NVP(config.vio_enforce_realtime));
+
   ar(CEREAL_NVP(config.mapper_obs_std_dev));
   ar(CEREAL_NVP(config.mapper_obs_huber_thresh));
   ar(CEREAL_NVP(config.mapper_detection_num_points));
diff --git a/src/vi_estimator/keypoint_vio.cpp b/src/vi_estimator/keypoint_vio.cpp
index 95b5a70..f413019 100644
--- a/src/vi_estimator/keypoint_vio.cpp
+++ b/src/vi_estimator/keypoint_vio.cpp
@@ -125,6 +125,11 @@ void KeypointVioEstimator::initialize(const Eigen::Vector3d& bg,
     while (true) {
       vision_data_queue.pop(curr_frame);
 
+      if (config.vio_enforce_realtime) {
+        // drop current frame if another frame is already in the queue.
+        while (!vision_data_queue.empty()) vision_data_queue.pop(curr_frame);
+      }
+
       if (!curr_frame.get()) {
         break;
       }