AstroLoc: An Efficient and Robust Localizer for a Free-flying Robot
Ryan Soussan,Varsha Kumar,Brian Coltin,Trey Smith,Ryan Soussan,Varsha Kumar,Brian Coltin,Trey Smith
We present AstroLoc, an efficient and robust monocular visual-inertial graph-based localization system used by the Astrobee free-flying robots onboard the International Space Station (ISS). We provide a novel localization system that limits the traditionally higher computation times for graph-based localization systems and enables the resource constrained Astrobee robots to benefit from their incr...
