5 papers · 1 filter
In-Situ Reconstruction of the International Space Station Using 3D Gaussian Splatting and Astrobee
Hudson Kim, Ryan Soussan, Brian Coltin +1
This article presents a novel 3D reconstruction and mapping of the interior of the International Space Station (ISS) using 3D Gaussian Splatting (3DGS). Using existing grayscale im…
KnotDLO: Toward Interpretable Knot Tying
Holly Dinkel, Raghavendra Navaratna, Jingyi Xiang +3
This work presents KnotDLO, a method for one-handed Deformable Linear Object (DLO) knot tying that is robust to occlusion, repeatable for varying rope initial configurations, inter…
Semantic Masking and Visual Feature Matching for Robust Localization
Luisa Mao, Ryan Soussan, Brian Coltin +2
We are interested in long-term deployments of autonomous robots to aid astronauts with maintenance and monitoring operations in settings such as the International Space Station. Un…
Multi-Agent 3D Map Reconstruction and Change Detection in Microgravity with Free-Flying Robots
Holly Dinkel, Julia Di, Jamie Santos +6
Assistive free-flyer robots autonomously caring for future crewed outposts -- such as NASA's Astrobee robots on the International Space Station (ISS) -- must be able to detect day-…
Unsupervised Change Detection for Space Habitats Using 3D Point Clouds
Jamie Santos, Holly Dinkel, Julia Di +5
This work presents an algorithm for scene change detection from point clouds to enable autonomous robotic caretaking in future space habitats. Autonomous robotic systems will help…