GIST Scholar
College of Engineering
Department of Mechanical and Robotics Engineering
1. Journal Articles
Astrobee ISS Free-Flyer Datasets for Space Intra-Vehicular Robot Navigation Research
- Type
- Article
- Citation
- IEEE Robotics and Automation Letters, v.9, no.4, pp.3307 - 3314
- Issued Date
- 2024-04
- Abstract
- 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 free-flyers face unique localization challenges: their IMU does not provide a gravity vector, their attitude is fully arbitrary, and they operate in a dynamic, cluttered environment. We extensively evaluate state-of-the-art visual navigation algorithms on these challenging Astrobee datasets, showing superior performance of classical geometry-based methods over recent data-driven approaches. The datasets include monocular images and IMU measurements, with multiple sequences performing a variety of maneuvers and covering four ISS modules. The sensor data is spatio-temporally aligned, and extrinsic/intrinsic calibrations, ground-truth 6-DoF camera poses, and detailed 3D CAD models are included to support evaluation. The datasets are available at: https://astrobee-iss-dataset.github.io/. © 2016 IEEE.
- Publisher
- Institute of Electrical and Electronics Engineers Inc.
- ISSN
- 2377-3766
- Appears in Collections:
- Department of Mechanical and Robotics Engineering > 1. Journal Articles
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