# ethz-asl/ethzasl_msf

MSF - Modular framework for multi sensor fusion based on an Extended Kalman Filter (EKF)

Repository: https://github.com/ethz-asl/ethzasl_msf
Canonical: https://ross.abutalabs.com/products/ethzasl_msf
Language: C++
License: NOASSERTION
License Family: other
Last push: 2026-01-22T14:46:32+00:00

## Health v2 (maintenance only)
Score: 61/100 (v2, computed 2026-09-02T17:46:02.011165+00:00)
- activity 63, release rhythm 35, longevity 100
- inputs: {"age_days": 5398, "days_push": 223, "days_rel": null, "gap_med": null, "n_releases_24m": 0}
- flags: no_releases, no_license
- formula: round(0.45*activity + 0.35*rhythm + 0.20*longevity); archived -> min(score, 10)

## Adoption (not part of the score)
Stars 1099, forks 448 (observed 2026-08-28T04:03:35.103420+00:00)

## What it is
ethzasl_msf is a modular C++ framework for multi-sensor fusion based on an Extended Kalman Filter (EKF), with time delay compensation for single and multi sensor setups. It is primarily used in robotics state estimation, and new projects are directed to its actively maintained successor, MaRS.

## Use cases
- fuse imu with camera or lidar measurements for robot state estimation
- estimate pose of a drone from multiple sensors with time delay compensation
- build an EKF-based multi-sensor fusion pipeline for a mobile robot
- localize a robot by fusing position and orientation sensors
- prototype sensor fusion algorithms for slam systems

## When to choose
- you need a proven modular EKF sensor fusion framework for ROS-based robotics
- your project requires time delay compensated multi-sensor fusion
- you are maintaining or extending an existing system already built on ethzasl_msf

## When to avoid
- you are starting a new project - the maintainers recommend the actively maintained MaRS library instead
- you need online sensor integration, better initialization, or multi-sensor scalability
- you are not working in a ROS/C++ robotics environment

## Facets
- artifact type: library
- maturity: maintenance
- function: simulation, machine-learning
- domain: robotics, autonomous-vehicles
- platform: cpp
- tags: sensor-fusion, ekf, state-estimation, robotics, kalman-filter, time-delay-compensation, algorithms, linux, ros

## Member repositories
- ethz-asl/ethzasl_msf (main) score 61

## Provenance
- Observed fields: from GitHub, fetched 2026-08-28T04:03:35.103420+00:00.
- Health v2: computed from the inputs above; adoption is never an input.
- Inferred fields (summary, facets, guidance): AI-extracted, prompt v1, taxonomy v1, on 2026-08-30T06:46:02.904293+00:00, confidence not recorded.
  - readme: https://github.com/ethz-asl/ethzasl_msf (fetched 2026-08-28T04:03:35.103420+00:00, sha 932ae1d51c67)
- Data as of 2026-08-30T08:39:29.467469+00:00.