  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.
