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NASA Astrobee Robot Software
Astrobee Version:
Flight software for the Astrobee robots operating inside the International Space Station.
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Performs sliding-window graph based visual-intertial odometry (VIO) using a VOSmartProjectionFactorAdder and StandstillFactorAdder. Uses a CombinedNavStateNodeAdder for creating combined nav state nodes (containing a pose, velocity, and IMU bias) at required timestamps using IMU measurements. Optionally adds depth image correspondences as point-to-point between factors.
For more information on the theory behind the GraphVIO and the factors used, please see our paper: