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SlimeVR Full Body Tracker is a set of sensors and software for Full Body Tracking (FBT) in virtual reality. SlimeVR makes VR FBT affordable, wireless (no base stations), and more comfortable than competitors.
SlimeVR FBT is a set of trackers and software that provide simple, effective tracking of the user’s body in VR and other applications. By using high-quality IMU sensors connected to PC over wifi, SlimeVR makes comfortable full-body tracking possible without wires, cameras, or base stations. Five trackers on the waist, thighs, and ankles track their rotation in space, then SlimeVR uses your proportions and headset position to calculate your joints, and tracks position using this info. In more technical terms, SlimeVR uses absolute orientation sensors and a skeleton model with user-entered proportions and forward kinematics to put virtual Vive trackers on key points.
The base set of 5 trackers lets the user track their lower body (legs and waist), which is a physical area widely supported by VR games like VRChat. Other games like NeosVR, LIV, and more can track knees and chest using the same trackers. Additional trackers can be used to increase tracking to the users feet, elbows, chests, and full hands position.
The main focus of this project is the user’s comfort. The sensors are lightweight and easy to wear, cannot be obscured, and provide a wide range of motion. Slime VR does not need cameras, other external sensors or base stations.
Open source design gives power to the VR community to expand on the SlimeVR ecosystem, create new devices, add compatibility with new software, and improve upon all aspects of the project in the future.
The Oculus Quest itself, as a standalone system, doesn’t support full body tracking right now. However, you can use SlimeVR with your Oculus Quest if you connect it to PC and play SteamVR games with it!
|Form factor||5x 50 g trackers||3x 75 g trackers||3x 50 g trackers||3x 30 g trackers||QR codes & central camera||Central camera|
|Battery Life||15 h||7.5 h||7 h||∞||∞||∞|
|Base station||No (Wi-Fi)||SteamVR Lighthouse||SteamVR Lighthouse||StonX beacon||Any camera||Kinect|
|Prone to occlusion||No||Yes||Yes||Yes||Yes||Yes|
|Precision||1-10 cm ¹||<1 mm||<1 mm||<1 cm||<1 cm||1-10 cm|
|Latency||~15 ms||~15 ms||~15 ms||~15 ms||30+ ms||30-40 ms|
|Update rate||100 Hz||90-144 Hz||90-144 Hz||120 Hz||Camera framerate||30 Hz|
|Range||Wi-Fi coverage||10 m||10 m||3 m||2-3 m||2-4 m|
|Can track any object||No||Yes||Yes||Yes||Yes||No|
|Open Source||SW + HW||No||No||No||SW + HW||SW|
¹ The precision of SlimeVR tracking technology depends on your setup, on the plane used for measurement, and on how your back bends.
² AprilTag requires additional waist tracker with a phone or other tracking technology (has reliable 180° coverage without).
Full open source hardware and software documentation will be available when the campaign goes live, and in the meantime here’s some firmware you can check out. We also plan to supply additional schematics and instructions for an easier DIY version.
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