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

This nodelet detects ISS handrails from depth images. For details of the underlying algorithm, see Dong-Hyun's paper.

Inputs

  • /perch_cam/points

Outputs

  • /localization/handrail/features
  • /localization/handrail/registration