Mesquite MoCap: Democratizing Real-Time Motion Capture with Affordable, Bodyworn IoT Sensors and WebXR SLAM
This democratizes motion capture for applications in entertainment, biomechanics, healthcare, human-computer interaction, and virtual reality by making it affordable and accessible.
The paper tackles the high cost and complexity of motion capture by presenting Mesquite, an open-source, low-cost inertial system using body-worn IMU sensors and a smartphone for tracking, achieving mean joint-angle error of 2-5 degrees at about 5% of the cost of commercial optical systems.
Motion capture remains costly and complex to deploy, limiting use outside specialized laboratories. We present Mesquite, an open-source, low-cost inertial motion-capture system that combines a body-worn network of 15 IMU sensor nodes with a hip-worn Android smartphone for position tracking. A low-power wireless link streams quaternion orientations to a central USB dongle and a browser-based application for real-time visualization and recording. Built on modern web technologies -- WebGL for rendering, WebXR for SLAM, WebSerial and WebSockets for device and network I/O, and Progressive Web Apps for packaging -- the system runs cross-platform entirely in the browser. In benchmarks against a commercial optical system, Mesquite achieves mean joint-angle error of 2-5 degrees while operating at approximately 5% of the cost. The system sustains 30 frames per second with end-to-end latency under 15ms and a packet delivery rate of at least 99.7% in standard indoor environments. By leveraging IoT principles, edge processing, and a web-native stack, Mesquite lowers the barrier to motion capture for applications in entertainment, biomechanics, healthcare monitoring, human-computer interaction, and virtual reality. We release hardware designs, firmware, and software under an open-source license (GNU GPL).