We present the localization approach for Astrobee, a new free-flying robot designed to navigate autonomously on the International Space Station (ISS). Astrobee will accommodate a variety of payloads and enable guest scientists to run experiments in zero-g, as well as assist astronauts and ground controllers. Astrobee will replace the SPHERES robots which currently operate on the ISS, whose use of fixed ultrasonic beacons for localization limits them to work in a 2 meter cube. Astrobee localizes with monocular vision and an IMU, without any environmental modifications. Visual features detected on a pre-built map, optical flow information, and IMU readings are all integrated into an extended Kalman filter (EKF) to estimate the robot pose. We introduce several modifications to the filter to make it more robust to noise, and extensively evaluate the localization algorithm.


    Zugriff

    Zugriff über TIB

    Verfügbarkeit in meiner Bibliothek prüfen


    Exportieren, teilen und zitieren



    Titel :

    Localization from Visual Landmarks on a Free-Flying Robot


    Beteiligte:
    Coltin, Brian (Autor:in) / Fusco, Jesse (Autor:in) / Moratto, Zack (Autor:in) / Alexandrov, Oleg (Autor:in) / Nakamura, Robert (Autor:in)

    Kongress:

    International Conference on Intelligent Robots and Systems (IROCS) ; 2016 ; Daejeon, Korea, Republic of


    Erscheinungsdatum :

    09.10.2016


    Medientyp :

    Aufsatz (Konferenz)


    Format :

    Keine Angabe


    Sprache :

    Englisch




    Visual landmarks detection and recognition for mobile robot navigation

    Hayet, J.B. / Lerasle, F. / Devy, M. | IEEE | 2003


    Visual Landmarks Detection and Recognition for Mobile Robot Navigation

    Hayet, J. / Lerasle, F. / Devy, M. et al. | British Library Conference Proceedings | 2003


    LOCALIZATION USING DYNAMIC LANDMARKS

    LIN SÖRSTEDT JOAKIM / SCHINDLER ANDREAS / GUSTAFSSON TONY | Europäisches Patentamt | 2024

    Freier Zugriff

    Intelligent, Free-Flying Robot

    G. J. Reuter / C. W. Hess / D. E. Rhoades et al. | NTIS | 1989


    Navigation using selected visual landmarks

    KERZNER DANIEL TODD / SEYFI AHMAD / MEYER TIMON et al. | Europäisches Patentamt | 2023

    Freier Zugriff