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arXiv · 1806.07115

ConFusion: Sensor Fusion for Complex Robotic Systems using Nonlinear Optimization

Timothy Sandy·Lukas Stadelmann·Simon Kerscher·Jonas Buchli
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Abstract

We present ConFusion, an open-source package for online sensor fusion for robotic applications. ConFusion is a modular framework for fusing measurements from many heterogeneous sensors within a moving horizon estimator. ConFusion offers greater flexibility in sensor fusion problem design than filtering-based systems and the ability to scale the online estimate quality with the available computing power. We demonstrate its performance in comparison to an iterated extended Kalman filter in visual-inertial tracking, and show its versatility through whole-body sensor fusion on a mobile manipulator.

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Timothy Sandy, Lukas Stadelmann, Simon Kerscher, Jonas Buchli. 2018-06-19. ConFusion: Sensor Fusion for Complex Robotic Systems using Nonlinear Optimization. https://doi.org/10.1109/lra.2019.2894168

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