We present a scheme for multi-sensor data fusion applications, called Relative Pose based Redundancy Removal (RPRR), that efficiently enhances the wireless channel utilization in bandwidth-constrained operational scenarios for RGBD camera equipped visual sensor networks. Pairs of nodes cooperatively determine their own relative pose, and by using this knowledge they identify the correlated data related to the common regions of the captured color and depth images. Then, they only transmit the non-redundant information present in these images. As an additional benefit, the scheme also extends the battery life through reduced number of packet transmissions. Experimental results confirm that significant gains in terms of wireless channel utilization and energy consumption would be achieved when the RPRR scheme is used in visual sensor network operations.