# Xikaku

> Sight beyond Sight

Xikaku (LP-Research Inc.) builds sensor-fusion and perception software for autonomous systems. The pages listed below are the authoritative source for products, documentation, and company information.

## Pages
- [Home](https://xikaku.com/): Xikaku builds LPMS inertial sensors and FusionHub sensor-fusion software for autonomous vehicles, robotics, AR/VR, motion capture and maritime platforms.
- [Newsletter](https://xikaku.com/newsletter): Sign up for our FusionHub newsletter and we'll let you know about the latest news and updates!
- [Sensors](https://xikaku.com/sensors): The LPMS catalog of 6-axis and 9-axis IMUs, AHRS units and inclinometers for motion, orientation, positioning and navigation. Full specifications per model.
- [FusionHub](https://xikaku.com/fusionhub): FusionHub is Xikaku's real-time sensor-fusion engine: fuse IMU, GNSS/RTK, wheel odometry and optical tracking through Unscented Kalman Filters into one pose and navigation solution. Visual node editor, ROS 2 / NMEA / MQTT outputs, single binary for edge or desktop.
- [Downloads](https://xikaku.com/downloads): Download FusionHub for Windows and macOS - the free sensor control and data acquisition application for LP-Research LPMS sensors. No account or license required.
- [Applications](https://xikaku.com/use-cases): How Xikaku sensors and FusionHub are used across aviation, automotive, extended reality and robotics, including LPVR mixed reality for motion simulators.
- [Our story](https://xikaku.com/our-story): Xikaku is the American arm of LP-Research, founded by three robotics PhDs from Waseda University in Tokyo. Two decades of motion-sensing research, shipped worldwide.
- [Contact](https://xikaku.com/contact): Contact Xikaku for product enquiries, integration support, partnerships or press. Offices at 4223 Glencoe Ave, Marina Del Rey, California.
- [Imprint](https://xikaku.com/imprint): Information in accordance with applicable disclosure obligations.
- [Privacy Policy](https://xikaku.com/privacy): This website and the Susi customer portal ("the service") is operated by Xikaku Inc. and LP-Research Inc. (see the Imprint for contact details). This page explains what personal data we process, why, and what rights you have.
  - [LPMS-B2](https://xikaku.com/lpms-b2): LPMS-B2: 9-axis Bluetooth IMU / AHRS with on-board 32-bit DSP fusion, Bluetooth Classic and BLE, internal flash recording and up to 7 units in parallel.
  - [LPMS-IG1](https://xikaku.com/lpms-ig1): LPMS-IG1: high-precision 9-axis IMU / AHRS in an IP67 housing, with dual gyroscopes to 2000 deg/s, under 0.3 deg static accuracy and USB, CAN, RS232 or RS485.
  - [LPMS-IG1P](https://xikaku.com/lpms-ig1p): LPMS-IG1P: 9-axis IMU / AHRS with integrated GNSS receiver in an IP67 waterproof housing, for real-time orientation and positioning in outdoor environments.
  - [LPMS-IG1W](https://xikaku.com/lpms-ig1w): LPMS-IG1W: compact 9-axis IMU with Wi-Fi connectivity and dual gyroscopes in an IP67 aluminum case, for industrial use without an internet connection.

## Blog
- [Xicap - A Spatial Accessory Tracker for Apple Vision Pro](https://xikaku.com/blog/xicap-vision-pro-spatial-accessory) (2026-08-14): Xicap is a spatial accessory tracker for the Apple Vision Pro: 6-DoF infrared tracking through the headset’s own cameras at up to 90 Hz. Pre-order now.
- [Physical AI with FusionHub](https://xikaku.com/blog/physical-ai-with-fusionhub) (2026-08-05): Where do large language models fit into a real-time sensor fusion system? Part 1 works through the question with FusionHub, and it is not where you would expect.
- [Mixed Reality with FusionHub and Vision Pro](https://xikaku.com/blog/fusionhub-vision-pro-mixed-reality) (2026-07-28): Connecting the Apple Vision Pro to FusionHub for wireless mixed reality, and how its tracking compares to the Varjo XR-4 in defence and industrial scenarios.
- [LPMS and FusionHub for Maritime Applications](https://xikaku.com/blog/lpms-fusionhub-maritime-applications) (2026-07-01): LPMS-IG1 and IG1P with FusionHub for maritime use: COG-referenced magnetic heading that stays stable despite steel hulls, electrical loads and turns.

## FusionHub Documentation
- [General](https://susi.lp-research.com/docs/general): FusionHub installation, first steps, and the operator-facing control panel.
- [Mixed Reality](https://susi.lp-research.com/docs/mixed-reality): Setup, calibration, and application guides for VR and AR headset tracking with FusionHub.
- [Automotive & Marine](https://susi.lp-research.com/docs/automotive-marine): Guides for vehicle and vessel tracking applications: sensor fusion tuning and navigation output.
- [Sources](https://susi.lp-research.com/docs/sources): Sources are the entry point for sensor data into the FusionHub pipeline. Each source publishes one or more data types that downstream filters and sinks subscribe to.
- [Filters](https://susi.lp-research.com/docs/filters): Filters consume data from sources (or other filters) and emit derived streams. Most fusion algorithms - pose estimation, GNSS-IMU fusion, prediction - live here.
- [Sinks](https://susi.lp-research.com/docs/sinks): Sinks export processed data to external systems (files, network protocols, visualizations).
- [Sources (C++)](https://susi.lp-research.com/docs/sources-cpp): Source nodes provided by the bundled FusionNodes (C++) bridge. They mirror the native sources above; pick the C++ backend when you specifically need it.
- [Filters (C++)](https://susi.lp-research.com/docs/filters-cpp): Filter nodes provided by the bundled FusionNodes (C++) bridge. They mirror the native filters above.
- [Sinks (C++)](https://susi.lp-research.com/docs/sinks-cpp): Sink nodes provided by the bundled FusionNodes (C++) bridge. They mirror the native sinks above.
- [Vehicle Fusion: Parameters and Recommended Settings](https://susi.lp-research.com/docs/vehicle-fusion-parameters): FusionHub provides three fusion nodes for vehicle positioning. Each combines the same sensors in a different way, so the right choice - and the right settings - depends on what data you have and what you need from the output.
- [Marine Heading Page](https://susi.lp-research.com/docs/marine-heading-page): The Marine Heading page is the live monitor for the Marine Heading node: tilt-compensated magnetic heading with continuous, GPS-assisted magnetometer calibration.
- [ALVR Bridge](https://susi.lp-research.com/docs/alvr): Node ID: alvr · Role: Filter · Realtime config: no
- [Differential IMU](https://susi.lp-research.com/docs/differentialImu): Node ID: differentialImu · Role: Filter · Realtime config: no
- [Example Filter](https://susi.lp-research.com/docs/exampleFilter): Node ID: exampleFilter · Role: Filter · Realtime config: no
- [Full 6-DOF Fusion](https://susi.lp-research.com/docs/fullFusion): Node ID: fullFusion · Role: Filter · Realtime config: no
- [Full Vehicle Fusion](https://susi.lp-research.com/docs/fullVehicleFusion): Node ID: fullVehicleFusion · Role: Filter · Realtime config: no
- [GNSS-IMU Fusion](https://susi.lp-research.com/docs/gnssImuFusion): Node ID: gnssImuFusion · Role: Filter · Realtime config: no
- [IMU-Optical Fusion](https://susi.lp-research.com/docs/fusion): Node ID: fusion · Role: Filter · Realtime config: yes
- [Inside-Out Fusion](https://susi.lp-research.com/docs/insideOutFusion): Node ID: insideOutFusion · Role: Filter · Realtime config: no
- [LPMS CAN Decoder](https://susi.lp-research.com/docs/lpmsCanDecoder): Node ID: lpmsCanDecoder · Role: Filter · Realtime config: no
- [Marine Heading](https://susi.lp-research.com/docs/marineHeading): Node ID: marineHeading · Role: Filter · Realtime config: no
- [Prediction Filter](https://susi.lp-research.com/docs/prediction): Node ID: prediction · Role: Filter · Realtime config: yes
- [Script Filter](https://susi.lp-research.com/docs/scriptFilter): Node ID: scriptFilter · Role: Filter · Realtime config: yes
- [Varjo HMD](https://susi.lp-research.com/docs/varjoHmd): Node ID: varjoHmd · Role: Filter · Realtime config: no
- [Vehicular Fusion (Odometry-IMU)](https://susi.lp-research.com/docs/vehicularFusion): Node ID: vehicularFusion · Role: Filter · Realtime config: no
- [Differential IMU (C++)](https://susi.lp-research.com/docs/DifferentialImuFilter_cpp): Node ID: DifferentialImuFiltercpp · Role: Filter · Realtime config: no
- [Full 6-DOF Fusion (C++)](https://susi.lp-research.com/docs/FullFusionFilter_cpp): Node ID: FullFusionFiltercpp · Role: Filter · Realtime config: no
- [Full Vehicle Fusion (C++)](https://susi.lp-research.com/docs/FullVehicleFusionFilter_cpp): Node ID: FullVehicleFusionFiltercpp · Role: Filter · Realtime config: no
- [GNSS-IMU Fusion (C++)](https://susi.lp-research.com/docs/GnssImuFilter_cpp): Node ID: GnssImuFiltercpp · Role: Filter · Realtime config: no
- [Hand-Eye Calibration (C++)](https://susi.lp-research.com/docs/HandEyeCalibrationFilter_cpp): Node ID: HandEyeCalibrationFiltercpp · Role: Filter · Realtime config: no
- [IMU-Optical Fusion (C++)](https://susi.lp-research.com/docs/ImuOpticalFilter_cpp): Node ID: ImuOpticalFiltercpp · Role: Filter · Realtime config: no
- [IMU-Optical Intercalibration (C++)](https://susi.lp-research.com/docs/ImuOpticalIntercalibrationFilter_cpp): Node ID: ImuOpticalIntercalibrationFiltercpp · Role: Filter · Realtime config: no
- [Inside-Out Fusion (C++)](https://susi.lp-research.com/docs/InsideOutFilter_cpp): Node ID: InsideOutFiltercpp · Role: Filter · Realtime config: no
- [Prediction Filter (C++)](https://susi.lp-research.com/docs/PredictionFilter_cpp): Node ID: PredictionFiltercpp · Role: Filter · Realtime config: no
- [Vehicular Fusion (Odometry-IMU) (C++)](https://susi.lp-research.com/docs/OdometryImuFilter_cpp): Node ID: OdometryImuFiltercpp · Role: Filter · Realtime config: no
- [Getting Started](https://susi.lp-research.com/docs/fusionhub-basics): This guide walks you through setting up your LP-Research account, installing FusionHub, activating your license, and loading your first configuration. You need two things, both provided by LP-Research: an invitation email for your account, and a FusionHub license assigned to it.
- [Connect LPMS Sensors](https://susi.lp-research.com/docs/connect-lpms-sensors): FusionHub is the application for LP-Research LPMS sensors - it replaces the older LpmsControl app. This guide shows the fastest way to connect a sensor and look at its live data: download, plug in, and stream within a few minutes.
- [Operator Panel](https://susi.lp-research.com/docs/operator-panel): The Panel page is a customizable operator view: a grid of widgets showing live status and offering one-click controls for the nodes in your configuration.
- [Data Types & External Applications](https://susi.lp-research.com/docs/data-types): FusionHub nodes exchange typed messages over the wires you see in the node editor.
- [Using Headsets with FusionHub](https://susi.lp-research.com/docs/common-use-cases): This page contains tutorials for getting the most popular mixed and augmented reality headsets running with FusionHub.
- [Headset Calibration Tutorials](https://susi.lp-research.com/docs/headset-calibration-tutorial): In order to correctly track the pose of an augmented or virtual reality headset, FusionHub combines data that's natively acquired on the HMD with outside-in optical tracking data. To fuse these two data sources correctly the data needs to be in the same coordinate frame.
- [Point Calibration](https://susi.lp-research.com/docs/point-calibration): Point calibration aligns the coordinate system of an outside-in optical tracking system (ART, OptiTrack) with a virtual reference frame by probing known real-world points with a tracked stylus.
- [Optical See-Through Calibration](https://susi.lp-research.com/docs/ost-calibration): An optical see-through headset draws its image on a transparent display in front of the eye, so the virtual content is only registered with the real world if FusionHub knows exactly where the user's eyes are and how the display projects onto them.
- [ALVR Panel Mode with Apple Vision Pro](https://susi.lp-research.com/docs/alvr-vision-pro-panel-mode): FusionHub can drive an Apple Vision Pro as a SteamVR headset over Wi-Fi through the ALVR Bridge node, with FusionHub supplying the head pose.
- [3D View](https://susi.lp-research.com/docs/threeDViewSink): Node ID: threeDViewSink · Role: Sink · Realtime config: no
- [ACT2535 Output](https://susi.lp-research.com/docs/act2535Output): Node ID: act2535Output · Role: Sink · Realtime config: no
- [Color](https://susi.lp-research.com/docs/colorSink): Node ID: colorSink · Role: Sink · Realtime config: yes
- [Data Monitor](https://susi.lp-research.com/docs/dataMonitor): Node ID: dataMonitor · Role: Sink · Realtime config: no
- [DTrack Output (Proxy)](https://susi.lp-research.com/docs/dtrackOutput): Node ID: dtrackOutput · Role: Sink · Realtime config: no
- [Echo Sink](https://susi.lp-research.com/docs/echo): Node ID: echo · Role: Sink · Realtime config: no
- [Example Sink](https://susi.lp-research.com/docs/exampleSink): Node ID: exampleSink · Role: Sink · Realtime config: no
- [External Output](https://susi.lp-research.com/docs/externalOutput): Node ID: externalOutput · Role: Sink · Realtime config: no
- [File Logger](https://susi.lp-research.com/docs/logger): Node ID: logger · Role: Sink · Realtime config: no
- [GlobalFusedPose UDP Output](https://susi.lp-research.com/docs/globalFusedPoseUdpOutput): Node ID: globalFusedPoseUdpOutput · Role: Sink · Realtime config: no
- [IMU-Optical Intercalibration](https://susi.lp-research.com/docs/imuOpticalIntercalibration): Node ID: imuOpticalIntercalibration · Role: Sink · Realtime config: no
- [LPVIZ SteamVR Output](https://susi.lp-research.com/docs/lpvizSteamVr): Node ID: lpvizSteamVr · Role: Sink · Realtime config: no
- [Map View](https://susi.lp-research.com/docs/mapSink): Node ID: mapSink · Role: Sink · Realtime config: no
- [MQTT Publisher](https://susi.lp-research.com/docs/mqttPublisher): Node ID: mqttPublisher · Role: Sink · Realtime config: no
- [NMEA Output](https://susi.lp-research.com/docs/nmeaOutput): Node ID: nmeaOutput · Role: Sink · Realtime config: no
- [OST Calibration](https://susi.lp-research.com/docs/ostCalibration): Node ID: ostCalibration · Role: Sink · Realtime config: no
- [Point Calibration](https://susi.lp-research.com/docs/pointCalibration): Node ID: pointCalibration · Role: Sink · Realtime config: no
- [PX4 DDS Sink](https://susi.lp-research.com/docs/px4DdsSink): Node ID: px4DdsSink · Role: Sink · Realtime config: no
- [Scenario Planner](https://susi.lp-research.com/docs/scenarioPlanner): Node ID: scenarioPlanner · Role: Sink · Realtime config: no
- [SteamVR Tracker Output](https://susi.lp-research.com/docs/steamvrTracker): Node ID: steamvrTracker · Role: Sink · Realtime config: no
- [VRPN Output](https://susi.lp-research.com/docs/vrpnOutput): Node ID: vrpnOutput · Role: Sink · Realtime config: no
- [WebSocket Sink](https://susi.lp-research.com/docs/websocketSink): Node ID: websocketSink · Role: Sink · Realtime config: no
- [Zenoh Publisher](https://susi.lp-research.com/docs/zenohPublisher): Node ID: zenohPublisher · Role: Sink · Realtime config: no
- [ACT2535 Output (C++)](https://susi.lp-research.com/docs/Act2535Output_cpp): Node ID: Act2535Outputcpp · Role: Sink · Realtime config: no
- [Data Monitor (C++)](https://susi.lp-research.com/docs/DataMonitor_cpp): Node ID: DataMonitorcpp · Role: Sink · Realtime config: no
- [DTrack Output (Proxy) (C++)](https://susi.lp-research.com/docs/DTrackOutputNode_cpp): Node ID: DTrackOutputNodecpp · Role: Sink · Realtime config: no
- [Echo Sink (C++)](https://susi.lp-research.com/docs/EchoSink_cpp): Node ID: EchoSinkcpp · Role: Sink · Realtime config: no
- [File Logger (C++)](https://susi.lp-research.com/docs/FileLogger_cpp): Node ID: FileLoggercpp · Role: Sink · Realtime config: no
- [Legacy File Recorder (C++)](https://susi.lp-research.com/docs/LegacyFileRecorder_cpp): Node ID: LegacyFileRecordercpp · Role: Sink · Realtime config: no
- [MQTT Publisher (C++)](https://susi.lp-research.com/docs/MqttSink_cpp): Node ID: MqttSinkcpp · Role: Sink · Realtime config: no
- [NMEA Output (C++)](https://susi.lp-research.com/docs/NmeaSink_cpp): Node ID: NmeaSinkcpp · Role: Sink · Realtime config: no
- [VRPN Output (C++)](https://susi.lp-research.com/docs/VrpnSink_cpp): Node ID: VrpnSinkcpp · Role: Sink · Realtime config: no
- [WebSocket Sink (C++)](https://susi.lp-research.com/docs/WebsocketSink_cpp): Node ID: WebsocketSinkcpp · Role: Sink · Realtime config: no
- [Automotive Vehicle Source](https://susi.lp-research.com/docs/vehicle): Node ID: vehicle · Role: Source · Realtime config: no
- [CAN Source](https://susi.lp-research.com/docs/can): Node ID: can · Role: Source · Realtime config: no
- [ELM327 OBD-II Source](https://susi.lp-research.com/docs/elm327): Node ID: elm327 · Role: Source · Realtime config: no
- [Example Source](https://susi.lp-research.com/docs/exampleSource): Node ID: exampleSource · Role: Source · Realtime config: no
- [File Reader](https://susi.lp-research.com/docs/fileReader): Node ID: fileReader · Role: Source · Realtime config: no
- [GNSS Source](https://susi.lp-research.com/docs/gnss): Node ID: gnss · Role: Source · Realtime config: no
- [IMU Source](https://susi.lp-research.com/docs/imu): Node ID: imu · Role: Source · Realtime config: yes
- [Isaac ROS VO Source](https://susi.lp-research.com/docs/isaacVoSource): Node ID: isaacVoSource · Role: Source · Realtime config: no
- [LPMS Sensor](https://susi.lp-research.com/docs/lpms): Node ID: lpms · Role: Source · Realtime config: no
- [LPVISION HeadPose](https://susi.lp-research.com/docs/lpvisionHeadPose): Node ID: lpvisionHeadPose · Role: Source · Realtime config: no
- [MQTT Source](https://susi.lp-research.com/docs/mqttSource): Node ID: mqttSource · Role: Source · Realtime config: no
- [Optical Source](https://susi.lp-research.com/docs/optical): Node ID: optical · Role: Source · Realtime config: no
- [PX4 DDS Source](https://susi.lp-research.com/docs/px4DdsSource): Node ID: px4DdsSource · Role: Source · Realtime config: no
- [ROS Vehicle Source](https://susi.lp-research.com/docs/rosVehicleSource): Node ID: rosVehicleSource · Role: Source · Realtime config: no
- [RTCM Source](https://susi.lp-research.com/docs/RTCM): Node ID: RTCM · Role: Source · Realtime config: no
- [Velocity Meter (ACT2535)](https://susi.lp-research.com/docs/act2535): Node ID: act2535 · Role: Source · Realtime config: no
- [Automotive Vehicle Source (C++)](https://susi.lp-research.com/docs/AutomotiveVehicleSource_cpp): Node ID: AutomotiveVehicleSourcecpp · Role: Source · Realtime config: no
- [ELM327 OBD-II Source (C++)](https://susi.lp-research.com/docs/Elm327SourceSync_cpp): Node ID: Elm327SourceSynccpp · Role: Source · Realtime config: no
- [File Reader (C++)](https://susi.lp-research.com/docs/FileReader_cpp): Node ID: FileReadercpp · Role: Source · Realtime config: no
- [GNSS Source (C++)](https://susi.lp-research.com/docs/gnss_cpp): Node ID: gnsscpp · Role: Source · Realtime config: no
- [IMU Source (C++)](https://susi.lp-research.com/docs/imu_cpp): Node ID: imucpp · Role: Source · Realtime config: no
- [LPMS IG1 Dual RTK (C++)](https://susi.lp-research.com/docs/LPMSIG1DualRtkGpsSource_cpp): Node ID: LPMSIG1DualRtkGpsSourcecpp · Role: Source · Realtime config: no
- [MQTT Source (C++)](https://susi.lp-research.com/docs/MqttSource_cpp): Node ID: MqttSourcecpp · Role: Source · Realtime config: no
- [NTRIP Source (C++)](https://susi.lp-research.com/docs/NTRIPSource_cpp): Node ID: NTRIPSourcecpp · Role: Source · Realtime config: no
- [Optical Source (C++)](https://susi.lp-research.com/docs/optical_cpp): Node ID: opticalcpp · Role: Source · Realtime config: no
- [Velocity Meter (ACT2535) (C++)](https://susi.lp-research.com/docs/Act2535Source_cpp): Node ID: Act2535Sourcecpp · Role: Source · Realtime config: no

The complete documentation as a single markdown file: https://susi.lp-research.com/llms-full.txt