Multi Spectral Odometry

## Parent Issues
- #10 
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## Acceptance Criteria
- Reports drone speed with an accuracy of +-2m/s
- Reports drone pose within an error of 2m
- Reports drone orientation with an error of 1 degree 

**Collaborator**: @ @aayush-fadia 
**Reviewer**: @abhishek-iyer1
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## Risks
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