diff --git a/experimental/overhead_matching/kimera_vio_pipeline_test.cc b/experimental/overhead_matching/kimera_vio_pipeline_test.cc
deleted file mode 100644
index 02f72fe9..00000000
--- a/experimental/overhead_matching/kimera_vio_pipeline_test.cc
+++ /dev/null
@@ -1,79 +0,0 @@
-#include <gflags/gflags.h>
-#include <glog/logging.h>
-
-#include <chrono>
-#include <future>
-#include <memory>
-#include <utility>
-
-#include "experimental/overhead_matching/kimera_spectacular_data_provider.hh"
-#include "kimera-vio/dataprovider/DataProviderInterface.h"
-#include "kimera-vio/logging/Logger.h"
-#include "kimera-vio/pipeline/Pipeline.h"
-#include "kimera-vio/pipeline/RgbdImuPipeline.h"
-#include "kimera-vio/utils/Statistics.h"
-#include "kimera-vio/utils/Timer.h"
-
-DEFINE_string(params_folder_path, "../params/Euroc",
-              "Path to the folder containing the yaml files with the VIO parameters.");
-DEFINE_string(dataset_path, "/Users/Luca/data/MH_01_easy",
-              "Path of dataset (i.e. Euroc, /Users/Luca/data/MH_01_easy).");
-
-int main(int argc, char* argv[]) {
-    // Initialize Google's flags library.
-    google::ParseCommandLineFlags(&argc, &argv, true);
-    // Initialize Google's logging library.
-    google::InitGoogleLogging(argv[0]);
-
-    // Parse VIO parameters from gflags.
-    VIO::VioParams vio_params(FLAGS_params_folder_path);
-
-    // Build dataset parser.
-    VIO::DataProviderInterface::Ptr dataset_parser =
-        std::make_unique<robot::experimental::overhead_matching::SpectacularDataProviderInterface>(
-            vio_params);
-
-    CHECK(dataset_parser);
-
-    VIO::Pipeline::Ptr vio_pipeline;
-
-    vio_pipeline = std::make_unique<VIO::RgbdImuPipeline>(vio_params);
-
-    // Register callback to shutdown data provider in case VIO pipeline
-    // shutsdown.
-    vio_pipeline->registerShutdownCallback(
-        std::bind(&VIO::DataProviderModule::shutdown, dataset_parser));
-
-    // Register callback to vio pipeline.
-    dataset_parser->registerImuSingleCallback(
-        std::bind(&VIO::Pipeline::fillSingleImuQueue, vio_pipeline, std::placeholders::_1));
-    // We use blocking variants to avoid overgrowing the input queues (use
-    // the non-blocking versions with real sensor streams)
-    dataset_parser->registerLeftFrameCallback(
-        std::bind(&VIO::Pipeline::fillLeftFrameQueue, vio_pipeline, std::placeholders::_1));
-
-    dataset_parser->registerDepthFrameCallback(
-        std::bind(&VIO::RgbdImuPipeline::fillDepthFrameQueue, vio_pipeline, std::placeholders::_1));
-
-    // Spin dataset.
-    auto tic = VIO::utils::Timer::tic();
-    bool is_pipeline_successful = false;
-    while (dataset_parser->spin() && vio_pipeline->spin()) {
-        continue;
-    };
-    vio_pipeline->shutdown();
-    is_pipeline_successful = true;
-
-    // Output stats.
-    auto spin_duration = VIO::utils::Timer::toc(tic);
-    LOG(WARNING) << "Spin took: " << spin_duration.count() << " ms.";
-    LOG(INFO) << "Pipeline successful? " << (is_pipeline_successful ? "Yes!" : "No!");
-
-    if (is_pipeline_successful) {
-        // Log overall time of pipeline run.
-        VIO::PipelineLogger logger;
-        logger.logPipelineOverallTiming(spin_duration);
-    }
-
-    return is_pipeline_successful ? EXIT_SUCCESS : EXIT_FAILURE;
-}