Robust Semantic Mapping and Localization on a Free-Flying Robot in Microgravity
Ian D. Miller,Ryan Soussan,Brian Coltin,Trey Smith,Vijay Kumar,Ian D. Miller,Ryan Soussan,Brian Coltin,Trey Smith,Vijay Kumar
We propose a system that uses semantic object detections to localize a microgravity free-flyer. Many applications require absolute localization in a known reference frame, such as the execution of waypoint trajectories defined by human operators. Classical geometric methods build a map of point features, which may not be able to be associated after lighting or environmental changes. By contrast, s...
