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\page localization Localization

This folder consists of libraries for the graph-based localizer, sparse mapping pipeline, sensor inputs for localization, and other supporting libraries.

See the following publications for more details:

  • 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

    • Latest publication describing the current graph-based localization system for Astrobee
  • Brian Coltin, Jesse Fusco, Zack Moratto, Oleg Alexandrov and Robert Nakamura, "Localization from visual landmarks on a free-flying robot," Int. Conf. on Intelligent Robots and Systems (IROS), 2016. Link

    • Original publication describing previous EKF-based localizer and mapping system for Astrobee

If you are using the localizer or mapping pipeline in academic work, please cite the relevant publications above.

\subpage camera

\subpage depthodometry

\subpage graphlocalizer

\subpage graphoptimizer

\subpage groundtruthlocalizer

\subpage handrail

\subpage imuaugmentor

\subpage imuintegration

\subpage interestpoint

\subpage localizationcommon

\subpage localization_manager

\subpage localizationmeasurements

\subpage localization_node

\subpage opticalflow

\subpage optimizationcommon

\subpage pointcloudcommon

\subpage markertracking

\subpage sparsemapping

\subpage visioncommon

\subpage vive_localization