NASA Astrobee Robot Software  Astrobee Version:
Flight software for the Astrobee robots operating inside the International Space Station.
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Graph Localizer

Package Overview

Performs sliding-window graph based optimization using a LocFactorAdder. Uses a PoseNodeAdder for creating pose nodes at required timestamps using relative odometry measurements.

Background

For more information on the theory behind the GraphLocalizer and the factors used, please see our paper:

  • Ryan Soussan, Varsha Kumar, Brian Coltin, and Trey Smith, "Astroloc: An efficient and robust localizer for a free-flying robot", Int. Conf. on Robotics and Automation (ICRA), 2022. Link

Graph Optimization Structure

Factor Adders

  • LocFactorAdder

Graph Factors

  • gtsam::BetweenFactor<gtsam::Pose3>
  • LocPoseFactor
  • LocProjectionFactor

Node Adders

  • PoseNodeAdder