> For the complete documentation index, see [llms.txt](https://wiki.ariitk.in/wiki/llms.txt). Markdown versions of documentation pages are available by appending `.md` to page URLs; this page is available as [Markdown](https://wiki.ariitk.in/wiki/estimation/vio/diying-a-vi-sensor.md).

# DIYing a VI-Sensor

Build your own VI sensor framework.

Due to the limited availability of quality VI sensors, most people who need tightly synchronized visual inertial data have to put one together themselves. This guide gives a general overview of what is important in getting a sensor up and running, before giving specific instructions and code for a sensor using a pixracer and point-grey camera.

### Overview

![Sensor layout](https://camo.githubusercontent.com/0a55f698b2bfb21c43e9cf71bebf5f6828cab2d0/68747470733a2f2f692e696d6775722e636f6d2f4256743964384e2e706e67)

The idea behind the sensor is very simple. As a computers OS prevents sub-millisecond accurate timing, a micro-controller is used. The micro-controller gets data from an IMU and uses a trigger-line to control when a camera takes the images. It then transmits this information to the computer where it can be associated with the received images.


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