fuse
A ROS framework for sensor fusion using nonlinear least squares optimization, enabling state estimation, localization, mapping, and calibration on robots.
What is fuse?
fuse is a ROS framework for performing sensor fusion on robots using nonlinear least squares optimization. It provides a plugin-based architecture to model sensors, motion, and publishers, enabling real-time applications like state estimation, localization, mapping, and calibration. The framework abstracts the complexity of wiring sensor models together, allowing developers to focus on their specific robotic system.
Robotics engineers and researchers working on autonomous systems that require sensor fusion for state estimation, localization, or mapping. It is particularly useful for those building custom sensor models or motion models in ROS environments.
Developers choose fuse for its flexible plugin-based architecture, which allows easy customization and reuse of sensor and motion models. It integrates seamlessly with ROS and leverages Ceres Solver for robust nonlinear optimization, reducing the boilerplate code needed for sensor fusion pipelines.
Overview
The fuse stack provides a general architecture for performing sensor fusion live on a robot. Some possible applications include state estimation, localization, mapping, and calibration.
Use Cases
Best For
Related Projects
Found a gem we're missing?
Open-Awesome is built by the community, for the community. Submit a project, suggest an awesome list, or help improve the catalog on GitHub.
