Feature to reset odometry in known landmarks

The number of sensor fusion nodes available to generate odometry data is helpful. But in spite of using a combination of IMUOdometry and SVO, the odometry drift seems inevitable. So I wanted to find out if there is a way to reset the odometry values to zero in known landmarks with respect to the world frame, which updates the pose between ‘odom’ and the ‘world’ frame on its own based on the landmark’s pose. This could reduce the odometry drift accumulation. If such a component doesn’t exist, suggestions to components that are relevant would be highly appreciated.
Also is there a way to reseed localization particles in the codelets instead of doing them manually in sight.
@hemals @WayneWWW @ltorabi @Hammad_M