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fuse

  • Software
  • Navigation and mapping
  • Framework

A ROS framework for live sensor fusion on robots, using nonlinear least squares optimization for tasks like state estimation, localization, mapping and calibration.

Made by Locus Robotics, United States (checked on github.com/locusrobotics (opens in a new tab)).

Source on GitHub: github.com/locusrobotics/fuse (opens in a new tab). Facts read at commit 8e3f0a1 (opens in a new tab).

Licenses

Code
BSD-3-Clause (opens in a new tab)

Read by Robotheca from LICENSE (opens in a new tab) (BSD-3-Clause) at commit 8e3f0a1 (opens in a new tab), on 16 Oct 2026.

Commercial use
Yes

What it does

  • Provides plugin-based sensor models, motion models and publishers that feed an optimizer.
  • Sensor models turn raw sensor data into constraints; motion models connect states between measurements.
  • Optimized state values are sent to publishers, which publish derived quantities on ROS topics.
  • Lets users define custom state variables and constraints.
  • Uses Google's Ceres Solver internally to compute optimal state variable values.
  • Example covers a differential-drive robot with wheel encoders and a laser, with extensions for asynchronous sensors and online calibration.

Written by Robotheca from the project's README (opens in a new tab) at commit 8e3f0a1.

Getting started

Difficulty
Advanced

Maintenance

Status
Maintained: a commit in the last 12 months
Newest commit
18 Jun 2026 on devel
Latest release
None published on GitHub

Checked on GitHub on 16 Oct 2026.

Links

Robots on Robotheca that use it

No robot on Robotheca is linked to it yet. Links come from a robot's robot.yaml, from its dependency files read as text, or from Robotheca's editors.

Robotheca lists software as a reference: nothing is hosted or run here, and every fact links to where it was read.