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In this paper, we present our software sensor fusion framework forself-driving cars and other autonomous robots. We have designed our frameworkas a universal and scalable platform for building up a robust 3D model of theagent's surrounding environment by fusing a wide range of various sensors intothe data model that we can use as a basement for the decision making andplanning algorithms. Our software currently covers the data fusion of the RGBand thermal cameras, 3D LiDARs, 3D IMU, and a GNSS positioning. The frameworkcovers a complete pipeline from data loading, filtering, preprocessing,environment model construction, visualization, and data storage. Thearchitecture allows the community to modify the existing setup or to extend oursolution with new ideas. The entire software is fully compatible with ROS(Robotic Operation System), which allows the framework to cooperate with otherROS-based software. The source codes are fully available as an open-sourceunder the MIT license. See https://github.com/Robotics-BUT/Atlas-Fusion.

Atlas Fusion -- Modern Framework for Autonomous Agent Sensor Data Fusion