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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
| Description | NASA Astrobee Robot Software |
| 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
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
This package does not provide any links to tutorials in it's rosindex metadata.
You can check on the ROS Wiki Tutorials page for the package.
Package Dependencies
| Deps | Name |
|---|---|
| factor_adders | |
| graph_factors | |
| imu_integration | |
| localization_common | |
| localization_measurements | |
| node_adders | |
| sliding_window_graph_optimizer | |
| vision_common | |
| catkin |
System Dependencies
No direct system dependencies.
Dependant Packages
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 galactic. Known supported distros are highlighted in the buttons above.
No version for distro iron. 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
| Description | NASA Astrobee Robot Software |
| 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
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
This package does not provide any links to tutorials in it's rosindex metadata.
You can check on the ROS Wiki Tutorials page for the package.
Package Dependencies
| Deps | Name |
|---|---|
| factor_adders | |
| graph_factors | |
| imu_integration | |
| localization_common | |
| localization_measurements | |
| node_adders | |
| sliding_window_graph_optimizer | |
| vision_common | |
| catkin |
System Dependencies
No direct system dependencies.
Dependant Packages
Launch files
No launch files found
Messages
No message files found.
Services
No service files found