Sensor fusion using kalman filter

1. Is Kalman filter used for sensor fusion?
2. How to do sensor fusion?
3. How does a sensor fusion work?
4. How is Kalman filter used in robotics?

Is Kalman filter used for sensor fusion?

In this series, I will try to explain Kalman filter algorithm along with an implementation example of tracking a vehicle with help of multiple sensor inputs, often termed as Sensor Fusion. Kalman filter in its most basic form consists of 3 steps.

How to do sensor fusion?

More precisely, sensor fusion can be performed fusing raw data coming from different sources, extrapolated features or even decision made by single nodes. Data level - data level (or early) fusion aims to fuse raw data from multiple sources and represent the fusion technique at the lowest level of abstraction.

How does a sensor fusion work?

Essentially, sensor fusion aims to overcome the limitations of individual sensors by gathering and fusing data from multiple sensors to produce more reliable information with less uncertainty. This more robust information can then be used to make decisions or take certain actions.

How is Kalman filter used in robotics?

Extended Kalman Filter to the rescue! It removes the restriction of linear state transition and measurement models. Instead, it allows you to use any kind of nonlinear function to model the state transition and the measurements you are making with your robot.