IMU Articulated Kit

A sensor that can record 3DoF orientation of articulated kit, while providing trackable features for IR cameras.

Features

Related Projects

• RFIMU Interface: Control a group of sensors
• RFIMU Realsense Recorder Control a set of realsense cameras that connects to individual hosts.
• RFIMU Firmware Sensor firmware.
• RFIMU Visual Tracker Tracking program for IMU.

Requirement

The entire system requires several resources to operate:

• 802.11b/g/n WLAN, 2.4GHz
• A server running NTP that can be reached from WLAN
• A PC to receive inerial measurement from IMU Board
• A server for OTA to make firmware update easier

Quick Start

• Build the IMU Board according to its design.
• Flash the firmware into IMU Board with esptools.py. Some configurations should be set at this stage. #TODO
• Connect the IMU to a local Wi-Fi network, initialize on board sensor with several commands via RFIMU Interface. #TODO
• Setup realsense cameras, connect them to multiple realsense endpoints to avoid USB transmission bottleneck.
• Launch realsense client on every endpoint. Then, launch realsense controller.
• Turn on IMU Boards. Make sure the controller can see every endpoint and every IMU is UP via healthcheck commands. #TODO
• Tape IMU Boards to articulated objects.
• Start realsense recording and IMU recording simutaneously. Then stop when recording is completed.