3 accepted papers
We present AstroLoc2, a monocular and time-offlight (ToF) visual-inertial graph-based localizer used by the Astrobee free-flying robots on the International Space Station (ISS). AstroLoc2 sequentially performs odometry and absolute localization in a single process to decouple map noise from velocity
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