SlimeVR
| SlimeVR Full-Body Tracker | |
|---|---|
| Basic Info | |
| VR/AR | Virtual Reality |
| Type | Body Tracking System |
| Subtype | IMU Tracking, DIY VR |
| Platform | Windows, Linux, macOS, Android, iOS |
| Creator | SlimeVR |
| Developer | SlimeVR (Open Source Community) |
| Manufacturer | SlimeVR / DIY |
| Announcement Date | 2021 |
| Release Date | 2022 (Crowd Supply) |
| Price | $80-$200 (DIY), Official kits available |
| Website | https://slimevr.dev/ |
| Versions | SlimeVR Official, SlimeVR DIY |
| Requires | VR headset (as reference), Wi-Fi network |
| Predecessor | None |
| Successor | SlimeVR v1.2 (ICM-45686 IMU) |
| System | |
| Operating System | Windows, Linux, macOS, Android, iOS |
| Chipset | ESP8266/ESP32 microcontroller |
| CPU | ESP8266 or ESP32 |
| GPU | N/A |
| Storage | |
| Storage | N/A |
| Memory | N/A |
| SD Card Slot | No |
| Display | |
| Display | N/A (tracking device) |
| Subpixel Layout | N/A |
| Peak Brightness | N/A |
| Resolution | N/A |
| Pixel Density | N/A |
| Refresh Rate | 100Hz tracking |
| Persistence | N/A |
| Image | |
| Field of View | N/A |
| Horizontal FoV | N/A |
| Vertical FoV | N/A |
| Average Pixel Density | N/A |
| Peak Pixel Density | N/A |
| Foveated Rendering | N/A |
| Optics | |
| Optics | N/A |
| Ocularity | N/A |
| IPD Range | N/A |
| Adjustable Diopter | N/A |
| Passthrough | N/A |
| Tracking | |
| Tracking | Inertial (IMU-based) |
| Tracking Frequency | 100Hz |
| Base Stations | None required |
| Eye Tracking | N/A |
| Face Tracking | N/A |
| Hand Tracking | N/A |
| Body Tracking | Yes (primary function) |
| Rotational Tracking | Yes (absolute) |
| Positional Tracking | Derived from headset |
| Update Rate | 100Hz |
| Tracking Volume | Any (no base stations) |
| Play Space | Any environment |
| Latency | Low latency Wi-Fi |
| Audio | |
| Audio | N/A |
| Microphone | N/A |
| 3.5mm Audio Jack | N/A |
| Camera | None |
| Connectivity | |
| Connectivity | Wi-Fi (2.4GHz) |
| Ports | USB Type-C (charging) |
| Wired Video | N/A |
| Wireless Video | N/A |
| WiFi | Yes (2.4GHz) |
| Bluetooth | N/A |
| Power | 3.7V LiPo battery |
| Battery Capacity | 1,000-1,200mAh typical |
| Battery Life | 10-15 hours |
| Charge Time | USB Type-C |
| Device | |
| Dimensions | Compact DIY design |
| Weight | ~40g each |
| Material | 3D printed/custom enclosure |
| Headstrap | N/A (straps available) |
| Haptics | N/A |
| Color | Various (DIY) |
| Sensors | IMU (BNO085, ICM-45686, or similar) |
| Input | Body position tracking |
| Compliance | Open source hardware |
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SlimeVR is an open-source full-body tracking system that uses wireless IMU (Inertial Measurement Unit) sensors to track body movement for virtual reality, VTubing, and motion capture applications. Unlike SteamVR-based trackers that require expensive base stations, SlimeVR trackers communicate via Wi-Fi to a server application running on PC or smartphone, using the VR headset as a spatial reference point to calculate body positions—requiring no cameras, base stations, or line-of-sight. Each tracker tracks its absolute rotation using an IMU, with a minimum of five trackers (chest, both thighs, both ankles) enabling accurate full-body tracking. Available as official pre-built units through Crowd Supply or as DIY kits for approximately $80-$200, SlimeVR uses ESP8266 or ESP32 microcontrollers paired with IMU sensors like the BNO085 (v1.0/v1.1) or ICM-45686 (v1.2). The trackers operate at 100Hz refresh rate with 10-15+ hours of battery life from standard 3.7V LiPo batteries, charged via USB Type-C. SlimeVR Server software is compatible with Windows, Linux, macOS, Android, and iOS, with direct integration to SteamVR and support for standalone Quest headsets. The open-source nature enables extensive community customization, with detailed documentation for DIY builds. While IMU-based tracking experiences gradual rotational drift (correctable with a double-tap reset), SlimeVR provides an affordable, accessible full-body tracking solution that works anywhere—indoors, outdoors, or in small spaces—with a 2-year manufacturer warranty on official units.
History and Development
Open Source Origins
Community project:
- Open hardware design
- Open source software
- Community-driven
- Collaborative development
Crowd Supply Campaign
Official launch:
- 2022 Crowd Supply
- Official hardware
- Manufacturing scale
- Global availability
Version Evolution
Hardware iterations:
- v1.0/v1.1: BNO085 IMU
- v1.2: ICM-45686 + QMC6309
- Continuous improvement
- IMU optimization
Community Growth
Ecosystem:
- DIY community
- Discord server
- Documentation wiki
- Shared designs
Design Philosophy
No Base Stations
Accessibility:
- IMU-based tracking
- No external hardware
- Any environment
- Space-independent
Affordable Tracking
Cost priority:
- $80-$200 DIY
- Official kits available
- Fraction of SteamVR cost
- Democratized access
Open Source
Transparency:
- Open hardware designs
- Open software
- Community contributions
- Modifiable
DIY Friendly
Builder support:
- Component guides
- Build documentation
- Community help
- Customization
How It Works
IMU Tracking
Core technology:
- Each tracker tracks absolute rotation
- 9-DOF IMU sensors
- Accelerometer + gyroscope + magnetometer
- Sensor fusion algorithms
Headset Reference
Position calculation:
- VR headset as spatial anchor
- Body proportions input
- Position derived from rotation
- Full body reconstruction
Wi-Fi Communication
Data transmission:
- 2.4GHz Wi-Fi to server
- SlimeVR Server application
- Real-time streaming
- Low latency
Body Reconstruction
Tracking computation:
- Combined tracker data
- User body proportions
- Inverse kinematics
- Avatar driving
Tracker Hardware
Microcontroller
Processing:
- Primary: ESP8266 (Wemos D1 Mini)
- Alternative: ESP32
- Wi-Fi integrated
- Low cost
IMU Options
Sensor selection:
- Best: BNO085 (recommended)
- v1.2: ICM-45686 + QMC6309
- Budget: BMI160
- Avoid: MPU6050 (poor quality)
Battery
Power source:
- Type: 3.7V LiPo
- Capacity: 1,000-1,200mAh typical
- Life: 10-15 hours
- Rule: 100mAh ≈ 1 hour
Charging
Power management:
- USB Type-C
- TP4056 charging module (DIY)
- Battery protection
- Standard charging
Tracker Configuration
Minimum Setup
5-tracker config:
- 1× Chest
- 2× Thighs
- 2× Ankles
- Basic full-body
Enhanced Setup
7-tracker config:
- 5× basic set
- + 2× Feet
- Improved foot tracking
- Better accuracy
Extended Setup
Additional trackers:
- Knees (optional)
- Elbows (optional)
- Hip (optional)
- Maximum fidelity
Software
SlimeVR Server
Core application:
- Tracker management
- Calibration
- SteamVR integration
- Cross-platform
Platform Support
Operating systems:
- Windows: 8, 8.1, 10, 11
- Linux: Supported
- macOS: Supported
- Android: Supported
- iOS: Supported
VR Integration
Headset support:
- SteamVR headsets
- Meta Quest (standalone)
- Pico headsets
- Most VR platforms
Drift and Calibration
Drift Behavior
IMU characteristic:
- Gradual rotation drift
- 20-60 minutes between resets
- Activity dependent
- Normal IMU behavior
Reset Methods
Correction:
- Double-tap tracker
- Controller button press
- Quick recalibration
- Continuous use
Magnetometer
Drift reduction:
- Compass sensor
- Drift correction
- Environment dependent
- Magnetic interference sensitive
DIY Build
Cost
Budget options:
- Complete set: $80-$100 (DIY)
- Component sourcing: AliExpress
- Quality IMUs: Higher cost
- Significant savings
Official DIY Kit
Partial kit:
- Boards + extensions + cables
- No enclosures/straps/batteries
- Minimal soldering
- Tested boards
Full DIY
Complete build:
- Source all components
- 3D print enclosures
- Solder assembly
- Maximum customization
Official vs DIY
Official SlimeVR
Pre-built option:
- Manufactured quality
- 2-year warranty
- Tested components
- Ready to use
DIY SlimeVR
Builder option:
- Lower cost
- Full customization
- Learning experience
- Community supported
Comparison with Body Tracking
| Feature | SlimeVR | Vive Tracker 3.0 | Tundra Tracker | Perception Neuron |
|---|---|---|---|---|
| Type | IMU-based | SteamVR optical | SteamVR optical | IMU mocap |
| Base Stations | No | Yes | Yes | No |
| Battery Life | 10-15 hours | 7.5 hours | 7 hours | 6+ hours |
| Drift | Yes (correctable) | No | No | Yes |
| Accuracy | Good | Sub-millimeter | Sub-millimeter | Professional |
| Environment | Any | Tracked space | Tracked space | Any |
| DIY Option | Yes | No | No | No |
| Price (5+) | ~$200 | ~$650+ | ~$500+ | ~$1,500+ |
Strengths and Limitations
Strengths
- No base stations required
- $80-$200 affordable (DIY)
- 10-15+ hours battery life
- Works anywhere (indoor/outdoor)
- Open source hardware/software
- Cross-platform (Windows/Linux/macOS/Android/iOS)
- SteamVR + Quest standalone support
- 100Hz tracking refresh rate
- 2-year warranty (official)
- Active community support
- DIY customization possible
Limitations
- IMU drift (requires periodic reset)
- Positional tracking derived (not absolute)
- Magnetic interference sensitivity
- DIY build complexity
- IMU quality varies by component choice
- Not as accurate as optical tracking
- Calibration learning curve
- Wi-Fi network required
- Headset required as reference
Technical Specifications Summary
| Specification | Details |
|---|---|
| Type | IMU-based body tracking |
| Base Stations | Not required |
| Microcontroller | ESP8266/ESP32 |
| IMU | BNO085, ICM-45686, or similar |
| Refresh Rate | 100Hz |
| Battery Life | 10-15+ hours |
| Battery Type | 3.7V LiPo (1,000-1,200mAh) |
| Connectivity | Wi-Fi 2.4GHz |
| Platforms | Windows, Linux, macOS, Android, iOS |
| Min Trackers | 5 (chest, thighs, ankles) |
| Price | $80-$200 (DIY), Official kits vary |
| Warranty | 2 years (official) |