No version for distro humble. Known supported distros are highlighted in the buttons above.
No version for distro iron. Known supported distros are highlighted in the buttons above.
No version for distro jazzy. Known supported distros are highlighted in the buttons above.
No version for distro rolling. Known supported distros are highlighted in the buttons above.

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 2024-06-13
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

The graph VIO package

Additional Links

No 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
CHANGELOG
No CHANGELOG found.

Wiki Tutorials

See ROS Wiki Tutorials for more details.

Source Tutorials

Not currently indexed.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

Recent questions tagged graph_vio at Robotics Stack Exchange

No version for distro ardent. Known supported distros are highlighted in the buttons above.
No version for distro bouncy. Known supported distros are highlighted in the buttons above.
No version for distro crystal. Known supported distros are highlighted in the buttons above.
No version for distro eloquent. Known supported distros are highlighted in the buttons above.
No version for distro dashing. Known supported distros are highlighted in the buttons above.
No version for distro galactic. Known supported distros are highlighted in the buttons above.
No version for distro foxy. Known supported distros are highlighted in the buttons above.
No version for distro lunar. Known supported distros are highlighted in the buttons above.
No version for distro jade. Known supported distros are highlighted in the buttons above.
No version for distro indigo. Known supported distros are highlighted in the buttons above.
No version for distro hydro. Known supported distros are highlighted in the buttons above.
No version for distro kinetic. Known supported distros are highlighted in the buttons above.

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 2024-06-13
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

The graph VIO package

Additional Links

No 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
CHANGELOG
No CHANGELOG found.

Wiki Tutorials

See ROS Wiki Tutorials for more details.

Source Tutorials

Not currently indexed.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

Recent questions tagged graph_vio at Robotics Stack Exchange