Andres Mora Vargas

Astrobee ISS Free-Flyer Datasets for Space Intra-Vehicular Robot Navigation Research

We present the first annotated benchmark datasets for evaluating free-flyer visual-inertial localization and mapping algorithms in a zero-g spacecraft interior. The Astrobee free-flying robots that operate inside the International Space Station (ISS) collected the datasets. Space intra-vehicular fre