ConFusion: Sensor Fusion for Complex Robotic Systems Using Nonlinear Optimization

Timothy Sandy; Lukas Stadelmann; Simon Kerscher; Jonas Buchli

RA-L 201916 citations

ConFusion: Sensor Fusion for Complex Robotic Systems Using Nonlinear Optimization

Timothy Sandy, Lukas Stadelmann, Simon Kerscher, Jonas Buchli

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 wholebody sensor fusion on a mobile manipulator.

BibTeX

@inproceedings{ral2019_confusionsensorf,
  title = {ConFusion: Sensor Fusion for Complex Robotic Systems Using Nonlinear Optimization},
  author = {Timothy Sandy and Lukas Stadelmann and Simon Kerscher and Jonas Buchli},
  booktitle = {RA-L 2019},
  year = {2019}
}