ConFusion: Sensor Fusion for Complex Robotic Systems using Nonlinear Optimization

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 filter...

Full description

Saved in:
Bibliographic Details
Published in:arXiv.org 2019-03
Main Authors: Sandy, Timothy, Stadelmann, Lukas, Kerscher, Simon, Buchli, Jonas
Format: Article
Language:English
Subjects:
Confusion
Defense industry
Extended Kalman filter
Military technology
Nonlinear systems
Optimization
Robotics
Sensors
Online Access:Get full text
Tags: Add Tag
No Tags, Be the first to tag this record!
Description
Summary: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.
ISSN:2331-8422
DOI:10.48550/arxiv.1806.07115