Vigil Station
Vigil Station collects model-ready paired camera and RTK data, producing synchronized ground truth for training, evaluation, and trajectory replay. Built on the reComputer Mini J4012 platform, it records camera streams, ingests timestamped RTK from a mobile platform, and produces centimeter-class frame-position pairs for training, evaluation, and trajectory replay.
Built to collect centimeter-accurate ground truth
Vigil is a hardware plus software platform built around an NVIDIA Jetson Orin NX ground station running Ubuntu 22.04. On the sensor side, it connects to Jetson-compatible RGB, thermal, and other camera feeds. On the positioning side, it runs an RTK base station and receives timestamped positional data from an RTK rover on the mobile platform.
The RTK chain is explicit: a simpleRTK2B base built on u-blox ZED-F9P hardware, an ANN-MB-00 multiband antenna at the ground station, and an ARK RTK GPS on the mobile platform. With valid RTK FIXED, that stack is designed for centimeter-level positioning, giving Vigil the accuracy needed to pair real motion with real sensor data instead of relying on coarse GPS traces.
What the collection stack is built to do
Centimeter-class RTK truth
Vigil Station runs an RTK base built on simpleRTK2B hardware and pairs it with an ARK RTK GPS rover on the mobile platform. When the link reaches RTK FIXED, the stack is designed for centimeter-level positional accuracy instead of consumer-GPS estimates.
Jetson Orin NX at the edge
The ground station is based on the reComputer Mini J4012 with Extension and an NVIDIA Jetson Orin NX 16GB module. That gives Vigil the local compute budget to ingest sensors, run capture services, and keep collection close to the cameras.
Timestamped video + RTK pairing
Vigil ingests one or more camera streams alongside timestamped RTK positional data, then time-synchronizes them into paired frame-position records. The result is dataset-ready ground truth, not a loose collection of disconnected logs.
Trajectory-ready data collection
During a trajectory, video is streamed directly to NVMe storage while RTK samples are written through SQLite in WAL mode. Vigil is built to handle arbitrary RTK and camera sampling rates and align everything back to a designated primary camera stream.
Ground station + RTK specs
Get your Vigil Station today
Deploy a Jetson Orin NX collection stack that turns video streams and centimeter-level RTK into usable training and evaluation data.