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The R200 can be run with Yocto Project in the Intel Vision Kit for drones on the Intel Aero Compute board. However, that board uses an Intel Atom processor. The R200 is compatible with Atom or an Intel Core processor that is 4th generation minimum.
In cases where you have a USB 3.0 RealSense camera and a USB 2.0 board (e.g Arduino boards), you cannot directly connect the camera to the board and must instead set up a serial data link between the board and a full PC that the camera is attached to.
I cannot say for certain how well the camera would work with and i.MX6 processor, or if it would work at all. In general, the most common scenario when using the camera with a processor that doesn't meet the RealSense requirements is that the camera is treated like a basic webcam, and you may be able to use simple functions such as raw camera data streaming and RGB video, but not more advanced functions such as face tracking.
If you absolutely need to use the R200 camera with Yocto Project instead of another Linux flavor such as Ubuntu then the Aero Compute Board and Vision Kit would probably be the best option. The R200 will also work with the Up Board, which is used in Intel's Robotic Development Kit, a combination of R200 and Up Board mini-board. You can directly attach the R200 to that board instead of needing a serial link
Although the Robotic Development Kit is officially rated for Ubuntu, you can use other Linux flavors with it, according to its store listing.