Mesquite MoCap: Democratizing Real-Time Motion Capture with Affordable, Bodyworn IoT Sensors and WebXR SLAM

Poojan Vanani; Darsh Patel; Danyal Khorami; Siva Munaganuru; Pavan Reddy; Varun Reddy; Bhargav Raghunath; Ishrat Lallmamode; Romir Patel; Assegid Kidané; Tejaswi Gowda

arXiv · 2512.22690

Mesquite MoCap: Democratizing Real-Time Motion Capture with Affordable, Bodyworn IoT Sensors and WebXR SLAM

Poojan Vanani·Darsh Patel·Danyal Khorami·Siva Munaganuru·Pavan Reddy·Varun Reddy·Bhargav Raghunath·Ishrat Lallmamode·Romir Patel·Assegid Kidané·Tejaswi Gowda

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Abstract

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).

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Poojan Vanani, Darsh Patel, Danyal Khorami, Siva Munaganuru, Pavan Reddy, Varun Reddy, Bhargav Raghunath, Ishrat Lallmamode, Romir Patel, Assegid Kidané, Tejaswi Gowda. 2025-12-27. Mesquite MoCap: Democratizing Real-Time Motion Capture with Affordable, Bodyworn IoT Sensors and WebXR SLAM. https://arxiv.org/abs/2512.22690

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