Motion and Shape Capture from Sparse Markers

Vicon-IMU fusion for groundtruth trajectory generation.

Drivers for motion capture systems (Vicon and Qualisys, can be extended to compatible with other mocap systems)

Vicon Receiver for ROS2

Extract and visualize gait data

Provide indoor positioning for a fleet of MAVLink autonomous vehicles

Code for working with the Vicon tracking system

PyJama is a friendly python library for analyzing human kinematics data. Aimed at analyzing data from IMU's, MIMU's, data from optical devices and in the future tracking data from deeplearning models.

Bebop Drone flying programmatically with ROS and Bebop_Driver

Platform independent python 3 wrapper implementation over Vicon Datastream SDK.

Motion Capture System Simulator Base on Gazebo8, can be use for vehicle SITL position Estimate

A UKF to estimate the orientation of a body using an IMU

UKF for orientation tracking on inertial data

This repository deals with analyzing various Neural Network approaches and finding the one with the most accurate reconstruction of motion captured trajectories recorded with missing markers in softwares like Vicon Nexus

Code base for learning motion data

My NMPC controller package for PX4-based Quadrotor deployment. To be used with other PX4 Quadrotor packages I've developed (see Readme file).

ROS 2 C++ package for streaming Vicon motion-capture data into the PX4 EKF as external vision. Converts ENU→NED, publishes PX4-compatible VehicleOdometry at a fixed rate, and optionally merges fused EKF outputs into a single full-state topic for control and logging.

A C++ bridge between ROS2 and Vicon, built using DataStream SDK

Controlling UAV using hand gestures

Determined the difference in Human Gait by recording and analyzing Human Gait trials pertaining to Lower Limb Transtibial Amputation simulated by an able-bodied subject wearing an Ankle Brace using Vicon Vero Motion Capture system and Vicon Nexus Software.