In 2003, they aired this crossover there, which was part of an event hosted by Fuji TV called Odaiba Boken-Oh. The feature is called "Kyūtai Panic Adventure!", or Orb Panic Adventure in English. There was also a sequel called "Kyūtai Panic Adventure Returns!", but that one does not have Astro Boy in it. Rather, it features a cameo by the main character from a manga/anime series called Kochikame. Astro Boy was only in the first crossover special.
Here is some info on this feature:
In 2003, Goku appeared in the interactive feature Kyutai Panic Adventure! (球体パニックアドベンチャー! Kyūtai Panikku Adobenchā!?, Orb Panic Adventure!), which was featured exclusively at the Fuji TV headquarters in the Kyutai or orb section. In this, Freeza attacks a visiting tourist, blasting the orb section free from the rest of the Fuji TV building. Goku fights Freeza over the real life aqua city of Odaiba.
Here is a very rare video of that crossover with Astro Boy. Sorry the quality is so bad, but this is the only video I can find of this. Astro Boy comes in at about the 6 minute mark:
[DBNEA Archive] One Piece / DragonballZ Crossover Animated - part1
As a big fan of both Dragon Ball and Astro Boy, I've gotta say that this completely made my day.