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Teresa Concei\cc ao, Brian Coltin, Andrew Symington, Lorenzo Flückiger, and Trey Smith. In Proc. Int. Symp. on AI, Robotics, and Automation in Space (iSAIRAS), 2018.
Astrobee is a freeflyer robot that will soon board the International Space Station (ISS). It senses with two pairs of color and Time-of-Flight (ToF) depth cameras, whose calibration is critical for mapping, localization, obstacle detection, and more. Even with an initial on the ground calibration, on-orbit recalibration may be required due to hardware changes from shipping, launching, and a different environment, as well as for future hardware replacements. The astronauts time is limited and expensive, therefore, calibration should not only be accurate and robust but also run in space with minimal human intervention. Hence, we present an automatic intrinsics and extrinsics calibration for the depth and visual cameras of Astrobee. We thoroughly evaluate our procedure and demonstrate it is ready for use on the ISS.
@InProceedings{conceicao18:calibration,
author = {Teresa Concei\c{c}\~{a}o and Brian Coltin and Andrew Symington and Lorenzo Fl\"{u}ckiger and Trey Smith},
title = {Joint Visual and Time-of-Flight Camera Calibration for an Automatic Procedure in Space},
booktitle = {Proc. Int. Symp. on AI, Robotics, and Automation in Space (iSAIRAS)},
year = 2018,
}
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