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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 board the International Space Station (ISS). Astrobee will conduct experiments in microgravity, as well as assisst astronauts and ground controllers. Astrobee replaces the SPHERES robots which currently operate on the ISS, which were limited to operating in a small cube since their localization system relied on triangulation from ultrasonic transmitters. Astrobee localizes with only monocular vision and an IMU, enabling it to traverse the entire US segment of the station. Features detected on a previously-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.Finally, we extensively evaluate the behavior of the filter on atwo-dimensional testing surface.
Document ID
20160012287
Acquisition Source
Ames Research Center
Document Type
Presentation
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-TN35764-2
Meeting Information
Meeting: International Conference on Intelligent Robots and Systems
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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