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Localization from Visual Landmarks on a Free-Flying RobotWe 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.
Document ID
20160012286
Acquisition Source
Ames Research Center
Document Type
Conference Paper
Authors
Coltin, Brian
(SGT, Inc. Moffett Field, CA, United States)
Fusco, Jesse
(NASA Ames Research Center Moffett Field, CA, United States)
Moratto, Zack
(SGT, Inc. Moffett Field, CA, United States)
Alexandrov, Oleg
(SGT, Inc. Moffett Field, CA, United States)
Nakamura, Robert
(NASA Ames Research Center Moffett Field, CA, United States)
Date Acquired
October 12, 2016
Publication Date
October 9, 2016
Subject Category
Cybernetics, Artificial Intelligence And Robotics
Report/Patent Number
ARC-E-DAA-TN35764-1
Report Number: ARC-E-DAA-TN35764-1
Meeting Information
Meeting: International Conference on Intelligent Robots and Systems (IROCS)
Location: Daejeon
Country: Korea, Republic of
Start Date: October 9, 2016
End Date: October 14, 2016
Sponsors: Institute of Electrical and Electronics Engineers
Funding Number(s)
CONTRACT_GRANT: NNA14AA60C
Distribution Limits
Public
Copyright
Public Use Permitted.
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