astrobeecd

[IAC 2023, AA 2024] This repository contains the code used in our paper, "AstrobeeCD: Change Detection in Microgravity with Free-Flying Robots." This method is useful for detecting 3D scene changes given a 3D model, a sequence of images, and a sequence of camera poses.

https://github.com/hollydinkel/astrobeecd

Keywords

3d-reconstruction artemis astrobee change-detection computer-graphics computer-vision inspection international-space-station localization mapping microgravity object-detection object-discovery robotic-caretaking robotic-inspection robotic-maintenance robotic-vision scene-recognition scene-understanding space

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Repository

[IAC 2023, AA 2024] This repository contains the code used in our paper, "AstrobeeCD: Change Detection in Microgravity with Free-Flying Robots." This method is useful for detecting 3D scene changes given a 3D model, a sequence of images, and a sequence of camera poses.

Basic Info

Host: GitHub
Owner: hollydinkel
License: mit
Language: Python
Default Branch: master
Homepage: https://doi.org/10.1016/j.actaastro.2024.06.037
Size: 7.89 MB

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Stars: 2
Watchers: 6
Forks: 0
Open Issues: 0
Releases: 0

Topics

3d-reconstruction artemis astrobee change-detection computer-graphics computer-vision inspection international-space-station localization mapping microgravity object-detection object-discovery robotic-caretaking robotic-inspection robotic-maintenance robotic-vision scene-recognition scene-understanding space

Created over 2 years ago · Last pushed 8 months ago

Metadata Files

Readme Citation

README.md

AstrobeeCD: Change Detection in Microgravity with Free-Flying Robots

Published in Acta Astronautica (ScienceDirect)

This repository contains the code for AstrobeeCD, a system for 3D scene change detection toward near-real-time environmental awareness of space outposts using the Astrobee free-flying robot in microgravity. A set of image and depth data from one time step is used to reconstruct a 3D model of the environment. The 3D model is used as the basis for comparison for free-flyer environment surveys at future time steps, where an image-based change detection algorithm identifies inconsistencies against the 3D model. Change detection is demonstrated using real image and pose data collected by an Astrobee robot in space on the International Space Station and on earth in the NASA Ames Research Center Granite Lab.

Astrobee

Preparing Data From Astrobee

Follow the data processing instructions.

Using Prepared Data

Follow the using FastCD instructions.

Learn More

The supplementary video describes the Astrobee platform, the change detection framework, and visualizes results.

BibTex

bash @ARTICLE{dinkel2024astrobeecd, author = {Dinkel, Holly and Di, Julia and Santos, Jamie and Albee, Keenan and Borges, Paulo V.K. and Gouveia Moreira, Marina and Soussan, Ryan and Alexandrov, Oleg and Coltin, Brian and Smith, Trey}, title = {\href{https://doi.org/10.1016/j.actaastro.2024.06.037}{AstrobeeCD: Change Detection in Microgravity with Free-Flying Robots}}, journal= {Acta Astronautica}, volume = {223}, pages = {98-107}, year = {2024}, issn = {0094-5765}, doi = {https://doi.org/10.1016/j.actaastro.2024.06.037}, }

References

[1] NASA, "Astrobee Robot Software," (2023). [code]

[2] E. Palazzolo and C. Stachniss, "Fast Image-Based Geometric Change Detection Given a 3D Model," in IEEE Int. Conf. Robot. Autom. (ICRA), 2018, pp. 6308–6315. doi: 10.1109/ICRA.2018. 8461019 [paper] [code]

Owner

Name: Holly Dinkel
Login: hollydinkel
Kind: user
Location: Urbana, IL
Company: University of Illinois at Urbana-Champaign

Website: https://www.linkedin.com/in/hollymdinkel/
Twitter: Jefferson_Aero
Repositories: 2
Profile: https://github.com/hollydinkel

Aerospace Engineering Ph.D. Candidate at UIUC and NSTGRO Fellow. I lead the @RMDLO project.

Citation (CITATION.cff)

cff-version: 1.2.0
authors:
  - family-names: Dinkel
    given-names: Holly
  - family-names: Di
    given-names: Julia
  - family-names: Santos
    given-names: Jamie
  - family-names: Albee
    given-names: Keenan
  - family-names: Borges
    given-names: Paulo V.K.
  - family-names: Gouveia Moreira
    given-names: Marina
  - family-names: Soussan
    given-names: Ryan
  - family-names: Alexandrov
    given-names: Oleg
  - family-names: Coltin
    given-names: Brian
  - family-names: Smith
    given-names: Trey
title: "AstrobeeCD: Change Detection in Microgravity with Free-Flying Robots"
version: 1.0.0
url: "https://www.sciencedirect.com/science/article/pii/S0094576524003539"
date-released: '2024-06-24'
preferred-citation:
  authors:
  - family-names: Dinkel
    given-names: Holly
  - family-names: Di
    given-names: Julia
  - family-names: Santos
    given-names: Jamie
  - family-names: Albee
    given-names: Keenan
  - family-names: Borges
    given-names: Paulo V.K.
  - family-names: Gouveia Moreira
    given-names: Marina
  - family-names: Soussan
    given-names: Ryan
  - family-names: Alexandrov
    given-names: Oleg
  - family-names: Coltin
    given-names: Brian
  - family-names: Smith
    given-names: Trey
  title: "AstrobeeCD: Change Detection in Microgravity with Free-Flying Robots"
  url: "https://www.sciencedirect.com/science/article/pii/S0094576524003539"
  year: 2024
  collection-title: "Acta Astronautica"

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