diff --git a/doc/setup.md b/doc/setup.md
index 513c810..accaddc 100644
--- a/doc/setup.md
+++ b/doc/setup.md
@@ -1,8 +1,8 @@
-# Setup
+# Repo Setup
 
 Please see the section that pertains to your operating system below.
 
-## Windows
+### Windows
 
 Please install a recent version of Visual Studio Build Tools: https://visualstudio.microsoft.com/downloads/#build-tools-for-visual-studio-2022
 
@@ -16,7 +16,7 @@ cd ../..
 pip install -r requirements.txt
 ```
 
-## Linux
+### Linux
 
 Install python3.11. If you are on a Debian-based distribution and you cannot find that version of Python, you can try the deadsnakes ppa: https://askubuntu.com/questions/1398568/installing-python-who-is-deadsnakes-and-why-should-i-trust-them
 
@@ -35,3 +35,8 @@ pip install -r requirements.txt
 
 wxPython wheel failure, try: https://wxpython.org/blog/2017-08-17-builds-for-linux-with-pip/index.html
 
+# Detector Setup
+
+This system is intended to be used over a LAN connecting Raspberry Pi -based detector(s) and a main computer. The Raspberry Pi's run the src.main_detector, while the main computer runs the src.main_pose_solver and optionally the src.gui.gui module.
+
+To setup the Raspberry Pi -based detectors, run the setup/create_image.sh script on a compatible linux system. Flash the resulting image to a microSD card (or multiple) for use.
diff --git a/setup/create_image.sh b/setup/create_image.sh
new file mode 100755
index 0000000..9b2a906
--- /dev/null
+++ b/setup/create_image.sh
@@ -0,0 +1,116 @@
+#!/bin/bash
+
+# Setup script for custom Raspbian Lite image for Pi detectors
+
+# If this is your first time running this script and it does not work, try to download these dependencies
+#apt-get install coreutils quilt parted qemu-user-static debootstrap zerofree zip \
+#dosfstools libarchive-tools libcap2-bin grep rsync xz-utils file git curl bc \
+#gpg pigz xxd arch-test
+
+# If it not your first time and it still doesn't work, try deleting the pi-gen directory first
+# The below version clones the arm64 branch specfically because I have been building this on a Raspberry Pi 5
+# You might need to change this depending on your build system
+git clone --branch arm64 https://github.com/RPI-Distro/pi-gen.git
+pushd pi-gen
+chmod +x build.sh
+
+# Start build process
+SECONDS=0
+clean=false
+
+# NOTE: This config currently configures the detectors to have default user/pass and ssh open at first boot
+# This is obviously a security risk on certain networks, be careful
+cat > config <<EOL
+export IMG_NAME=detector-raspbian
+export RELEASE=bookworm
+export DEPLOY_ZIP=1
+export LOCALE_DEFAULT=en_US.UTF-8
+export TARGET_HOSTNAME=detector-pi
+export KEYBOARD_KEYMAP=us
+export KEYBOARD_LAYOUT="English (US)"
+export TIMEZONE_DEFAULT=America/Toronto
+export TARGET_HOSTNAME=pi
+export DISABLE_FIRST_BOOT_USER_RENAME=1
+export FIRST_USER_NAME=pi
+export FIRST_USER_PASS="password"
+export ENABLE_SSH=1
+EOL
+
+# Skip stages 3-5, only want Raspbian lite
+touch ./stage3/SKIP ./stage4/SKIP ./stage5/SKIP
+touch ./stage4/SKIP_IMAGES ./stage5/SKIP_IMAGES
+
+pushd stage2
+
+# don't need NOOBS
+rm -f EXPORT_NOOBS || true
+
+# Add stage to the end of build process that performs the necessary detector setup
+step="04-detector-setup"
+if [ -d "$step" ]; then rm -Rf $step; fi
+mkdir $step && pushd $step
+cat > 00-run.sh <<RUN
+#!/bin/bash
+on_chroot << CHROOT
+# Update package list and upgrade packages
+apt-get update
+apt-get upgrade -y
+
+apt-get install -y python3-venv python3-pip build-essential libgtk-3-dev libglib2.0-dev libgl1-mesa-dev libglu1-mesa-dev python3-picamera2 ufw
+
+# Download and set up the MCSTrack repository
+cd /home/pi
+wget --no-check-certificate -O MCSTrack.zip https://github.com/PerkLab/MCSTrack/archive/refs/heads/main.zip
+unzip MCSTrack.zip
+mv MCSTrack-main MCSTrack
+chmod 777 MCSTrack
+
+# Set up Python virtual environment and install dependencies
+pushd MCSTrack
+python3 -m venv .venv --system-site-packages
+source .venv/bin/activate
+# Exclude the following packages from this install, because the detector doesn't need it
+grep -ivE "wxasync|wxpython|PyOpenGL==3.1.7|PyOpenGL-accelerate==3.1.7" requirements.txt> edited_requirements.txt
+pip3 install --break-system-packages -r edited_requirements.txt
+popd
+
+# Create startup script
+cat > /usr/local/bin/startup << EOF
+#!/bin/bash
+sudo ufw allow 8001
+cd /home/pi/MCSTrack
+source .venv/bin/activate
+python -m src.main_detector
+EOF
+
+chmod +x /usr/local/bin/startup
+
+# Schedule the script to run at boot
+echo '@reboot root /usr/local/bin/startup >> startup_log.log' > /etc/cron.d/startup
+CHROOT
+RUN
+
+chmod +x 00-run.sh
+
+popd
+popd # stage 02
+
+# run build
+if [ "$clean" = true ] ; then
+    echo "Running build with clean to rebuild last stage"
+    CLEAN=1 ./build.sh
+else
+    echo "Running build"
+    ./build.sh
+fi
+
+exitCode=$?
+
+duration=$SECONDS
+echo "Build process completed in $(($duration / 60)) minutes"
+
+if [ $exitCode -ne 0 ]; then
+    echo "Custom Raspbian lite build failed with exit code ${exitCode}" ; exit -1
+fi
+
+ls ./deploy