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Package Summary
| Tags | No category tags. |
| Version | 1.0.0 |
| License | Apache License, Version 2.0 |
| Build type | CATKIN |
| Use | RECOMMENDED |
Repository Summary
| Checkout URI | https://github.com/nasa/astrobee.git |
| VCS Type | git |
| VCS Version | master |
| Last Updated | 2024-07-03 |
| Dev Status | UNMAINTAINED |
| CI status | No Continuous Integration |
| Released | UNRELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Package Description
Additional Links
Maintainers
- Astrobee Flight Software
Authors
- Astrobee Flight Software
\page graphvio Graph VIO
Package Overview
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.
Background
For more information on the theory behind the GraphVIO 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
- DepthOdometryFactorAdder
- VoSmartProjectionFactorAdder
- StandstillFactorAdder ## Graph Factors
- Point BetweenFactors (for depth odometry correspondences)
- CombinedIMUFactor
- RobustSmartProjectionFactor
- Standstill Factors (zero velocity prior and identity relative transform between factors) ## Node Adders
- CombinedNavStateNodeAdder
Wiki Tutorials
Package Dependencies
| Deps | Name | |
|---|---|---|
| 1 | factor_adders | |
| 1 | graph_factors | |
| 1 | imu_integration | |
| 1 | localization_common | |
| 1 | localization_measurements | |
| 1 | node_adders | |
| 1 | sliding_window_graph_optimizer | |
| 1 | vision_common | |
| 1 | catkin |
System Dependencies
Dependant Packages
Launch files
Messages
Services
Plugins
Recent questions tagged graph_vio at Robotics Stack Exchange
|
|
Package Summary
| Tags | No category tags. |
| Version | 1.0.0 |
| License | Apache License, Version 2.0 |
| Build type | CATKIN |
| Use | RECOMMENDED |
Repository Summary
| Checkout URI | https://github.com/nasa/astrobee.git |
| VCS Type | git |
| VCS Version | master |
| Last Updated | 2024-07-03 |
| Dev Status | UNMAINTAINED |
| CI status | No Continuous Integration |
| Released | UNRELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Package Description
Additional Links
Maintainers
- Astrobee Flight Software
Authors
- Astrobee Flight Software
\page graphvio Graph VIO
Package Overview
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.
Background
For more information on the theory behind the GraphVIO 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
- DepthOdometryFactorAdder
- VoSmartProjectionFactorAdder
- StandstillFactorAdder ## Graph Factors
- Point BetweenFactors (for depth odometry correspondences)
- CombinedIMUFactor
- RobustSmartProjectionFactor
- Standstill Factors (zero velocity prior and identity relative transform between factors) ## Node Adders
- CombinedNavStateNodeAdder
Wiki Tutorials
Package Dependencies
| Deps | Name | |
|---|---|---|
| 1 | factor_adders | |
| 1 | graph_factors | |
| 1 | imu_integration | |
| 1 | localization_common | |
| 1 | localization_measurements | |
| 1 | node_adders | |
| 1 | sliding_window_graph_optimizer | |
| 1 | vision_common | |
| 1 | catkin |