OptiTrack Motion Tracking System
A motion capture system for real-time tracking of robot position, orientation, and full-body motion.
The OptiTrack motion capture system provides real-time tracking of robot position, orientation, and full-body motion. The system currently uses eight Flex 3 infrared cameras and supports configurable sampling rates of 25, 50, and 100 Hz for robot tracking, state measurement, and experimental validation.
Highlights
- Eight OptiTrack Flex 3 infrared cameras provide multi-view motion tracking, with the current two-hub configuration supporting expansion to up to 10 cameras.
- Configurable acquisition rates of 25, 50, and 100 Hz support experiments with different workspace, tracking, and real-time control requirements.
- Five cameras are mounted on heavy-duty stands, while three tripod-mounted cameras provide flexible placement and workspace coverage.
- Used throughout the lab for robot pose and shape measurement, controller evaluation, system identification, and ground-truth data collection.
- Current configuration: 8 cameras + 2 camera hubs
- Maximum supported configuration with the current hubs: 10 cameras
- Mounting: 5 heavy-duty stands + 3 tripods