ISAAC  0.2.11
Flight software for the ISAAC project, adding functionality to the Astrobee robot, operating inside the International Space Station.
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GMM Change Detection

Overview

This implementation of a GMM-based anomaly detection algorithm was created by Jamie Santos, for the purposes of a [Master thesis](). This algorithm is able to detect changes on environments such as the ISS using 3D point depth cloud data.

Requirements

pip3 install pulp pip3 install scikit-learn pip3 install pyntcloud pip3 install pandas pip3 install open3d apt-get install glpk-utils apt-get install ros-noetic-ros-numpy

Usage

rosrun gmm gmm_change_detection.py