 The SPHERES-VERTIGO (SPHERES-Visual Estimation and Relative Tracking for Inspection of Generic Objects) experiment aims to develop software and hardware that can generate three-dimensional maps of cooperative or non-cooperative objects using computer vision, and navigate relative to such objects solely by reference to the generated maps.As part of the experiment, new Simultaneous Localization and Mapping (SLAM) algorithms are developed and tested.To facilitate SPHERES-VERTIGO experiment, each SPHERES satellite aboard the ISS are equipped with an add-on "goggle" – a device connected to SPHERES using the expansion port, and carries a stereo camera, ultrasonic sensors, a single-board computer, high-speed communication facilities and batteries.