Astrobee ISS Free-Flyer Datasets for Space Intra-Vehicular Robot Navigation Research
DC Field | Value | Language |
---|---|---|
dc.contributor.author | Kang, Suyoung | - |
dc.contributor.author | Soussan, Ryan | - |
dc.contributor.author | Lee, Daekyeong | - |
dc.contributor.author | Coltin, Brian | - |
dc.contributor.author | Vargas, Andres Mora | - |
dc.contributor.author | Moreira, Marina | - |
dc.contributor.author | Browne, Katie | - |
dc.contributor.author | Garcia, Ruben | - |
dc.contributor.author | Bualat, Maria | - |
dc.contributor.author | Smith, Trey | - |
dc.contributor.author | Barlow, Jonathan | - |
dc.contributor.author | Benavides, Jose | - |
dc.contributor.author | Jeong, Eunju | - |
dc.contributor.author | Kim, Pyojin | - |
dc.date.accessioned | 2024-04-30T07:00:40Z | - |
dc.date.available | 2024-04-30T07:00:40Z | - |
dc.date.issued | 2024-04 | - |
dc.identifier.issn | 2377-3766 | - |
dc.identifier.uri | https://scholarworks.sookmyung.ac.kr/handle/2020.sw.sookmyung/159925 | - |
dc.description.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. | - |
dc.format.extent | 8 | - |
dc.language | 영어 | - |
dc.language.iso | ENG | - |
dc.publisher | Institute of Electrical and Electronics Engineers Inc. | - |
dc.title | Astrobee ISS Free-Flyer Datasets for Space Intra-Vehicular Robot Navigation Research | - |
dc.type | Article | - |
dc.publisher.location | 미국 | - |
dc.identifier.doi | 10.1109/LRA.2024.3364834 | - |
dc.identifier.scopusid | 2-s2.0-85186842818 | - |
dc.identifier.wosid | 001177958600002 | - |
dc.identifier.bibliographicCitation | IEEE Robotics and Automation Letters, v.9, no.4, pp 3307 - 3314 | - |
dc.citation.title | IEEE Robotics and Automation Letters | - |
dc.citation.volume | 9 | - |
dc.citation.number | 4 | - |
dc.citation.startPage | 3307 | - |
dc.citation.endPage | 3314 | - |
dc.type.docType | Article | - |
dc.description.isOpenAccess | N | - |
dc.description.journalRegisteredClass | scie | - |
dc.description.journalRegisteredClass | scopus | - |
dc.relation.journalResearchArea | Robotics | - |
dc.relation.journalWebOfScienceCategory | Robotics | - |
dc.subject.keywordAuthor | Autonomous Vehicle Navigation | - |
dc.subject.keywordAuthor | Data Sets for SLAM | - |
dc.subject.keywordAuthor | SLAM | - |
dc.subject.keywordAuthor | Space Robotics and Automation | - |
dc.identifier.url | https://ieeexplore.ieee.org/document/10432949 | - |
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