diff --git a/src/main/java/frc/robot/poseestimator/WPILibPoseEstimator/WPILibPoseEstimatorConstants.java b/src/main/java/frc/robot/poseestimator/WPILibPoseEstimator/WPILibPoseEstimatorConstants.java
index 8909c4a2c1..0f67e7733d 100644
--- a/src/main/java/frc/robot/poseestimator/WPILibPoseEstimator/WPILibPoseEstimatorConstants.java
+++ b/src/main/java/frc/robot/poseestimator/WPILibPoseEstimator/WPILibPoseEstimatorConstants.java
@@ -13,8 +13,6 @@ public class WPILibPoseEstimatorConstants {
 
 	public static final StandardDeviations2D DEFAULT_VISION_STD_DEV = new StandardDeviations2D(0.0003, 0.0003, 0.003);
 
-	public static final StandardDeviations2D VISION_STD_DEV_COLLISION_REDUCTION = new StandardDeviations2D();
-
 	public static final double MINIMUM_COLLISION_IMU_ACCELERATION_G = 2;
 
 	public static final Rotation2d MINIMUM_TILT_IMU_ROLL = Rotation2d.fromDegrees(4);
@@ -29,6 +27,8 @@ public class WPILibPoseEstimatorConstants {
 
 	public static final double SKID_ODOMETRY_ACCURACY_REDUCTION_FACTOR = 0;
 
+	public static final double CALIBRATED_IMU_OFFSET_VISION_ANGLE_STD_DEVS_ADDITION = 0;
+
 	/**
 	 * constant represents the addition to odometryAccuracy when the compensated vision X and Y StdDevs average is equal to one
 	 */
diff --git a/src/main/java/frc/robot/poseestimator/WPILibPoseEstimator/WPILibPoseEstimatorWrapper.java b/src/main/java/frc/robot/poseestimator/WPILibPoseEstimator/WPILibPoseEstimatorWrapper.java
index 56f03ed0ee..7d190c589d 100644
--- a/src/main/java/frc/robot/poseestimator/WPILibPoseEstimator/WPILibPoseEstimatorWrapper.java
+++ b/src/main/java/frc/robot/poseestimator/WPILibPoseEstimator/WPILibPoseEstimatorWrapper.java
@@ -229,11 +229,16 @@ private void updateOdometryAccuracy(OdometryData data) {
 	}
 
 	private void updateVision(RobotPoseObservation visionRobotPoseObservation) {
-		addVisionMeasurement(visionRobotPoseObservation);
+		RobotPoseObservation compensatedVisionObservation = new RobotPoseObservation(
+			visionRobotPoseObservation.timestampSeconds(),
+			visionRobotPoseObservation.robotPose(),
+			compensateByPoseEstimatorConditions(visionRobotPoseObservation.stdDevs())
+		);
+		addVisionMeasurement(compensatedVisionObservation);
 
 		getEstimatedPoseToIMUYawDifference(
-			imuYawBuffer.getSample(visionRobotPoseObservation.timestampSeconds()),
-			visionRobotPoseObservation.timestampSeconds()
+			imuYawBuffer.getSample(compensatedVisionObservation.timestampSeconds()),
+			compensatedVisionObservation.timestampSeconds()
 		).ifPresent(yawDifference -> {
 			poseToIMUYawDifferenceBuffer.insert(yawDifference);
 
@@ -247,11 +252,25 @@ private void addVisionMeasurement(RobotPoseObservation visionObservation) {
 		poseEstimator.addVisionMeasurement(
 			visionObservation.robotPose(),
 			visionObservation.timestampSeconds(),
-			compensateByOdometryAccuracy(visionObservation.stdDevs()).asColumnVector()
+			visionObservation.stdDevs().asColumnVector()
 		);
 		this.lastVisionObservation = visionObservation;
 	}
 
+	private StandardDeviations2D compensateByPoseEstimatorConditions(StandardDeviations2D visionStdDevs) {
+		return compensateByIsIMUOffsetCalibrated(compensateByOdometryAccuracy(visionStdDevs));
+	}
+
+	private StandardDeviations2D compensateByIsIMUOffsetCalibrated(StandardDeviations2D visionStdDevs) {
+		return new StandardDeviations2D(
+			visionStdDevs.xStandardDeviations(),
+			visionStdDevs.yStandardDeviations(),
+			isIMUOffsetCalibrated
+				? visionStdDevs.angleStandardDeviations() + WPILibPoseEstimatorConstants.CALIBRATED_IMU_OFFSET_VISION_ANGLE_STD_DEVS_ADDITION
+				: visionStdDevs.angleStandardDeviations()
+		);
+	}
+
 	private StandardDeviations2D compensateByOdometryAccuracy(StandardDeviations2D visionStdDevs) {
 		StandardDeviations2D compensatedStdDevs = new StandardDeviations2D(
 			visionStdDevs.xStandardDeviations() * odometryAccuracy,