Sensor Fusion Algorithm Development

The State-of-The-Art Data Fusion Development Framework for Automated Vehicles

BASELABS Create delivers fast sensor data fusion results with the intuitive data fusion designer. It is a prototyping software framework that is designed for the fast development of complex data fusion algorithms and environment models including 360 degree perception for level 1 to 5 autonomous vehicles. The framework can be used with all relevant middleware products like Vector vADASdeveloper, EB Assist ADTF, Robot Operating System (ROS), Simulink and others. BASELABS Create provides numerous features for the development of data fusion applications. More than support for the developer – BASELABS Create provides results.

Data fusion for level 1 to 5 autonomy

The modular Data Fusion Framework

BASELABS Create provides you with a structure for your data fusion application that is focused on scalability from Level 1 to Level 5 autonomy. You can start by focusing on a limited set of sensors and continue by adding more and more sensors over time. This is done within minutes by using the graphical user interface of the data fusion designer. There is no coding required - however the programmatic usage of the SDK is possible as well.

Data fusion for level 1 to 5 autonomy

Arbitrary sensors and data levels

BASELABS Create allows to combine information from arbitrary sensors like cameras, radars and lidars. The data from these sensors can be combined on different data levels, for example tracks from smart sensors, raw data or the result of a data preprocessing using artificial intelligence techniques such as deep learning. The result is a stable environment model with a unified output - regardless of the sensors or preprocessing you plug into the system.

Compatible Sensors

Additionally, the BASELABS Create SDK allows to integrate any other sensor. Use one of the contained templates or examples to add an unlisted sensor.

Further benefits

Benefits for developers

Achieve fast results by a graphical configuration of data fusion systems

With the data fusion designer, BASELABS Create provides an intuitive graphical interface that guides you through the design process and prompts for all relevant information like sensor parameters and characteristics. This allows an unmatched speed for the data fusion prototype development. Learn more about the data fusion designer

Change the configuration using the programmatic mode for fine-tuning and further development of your system

BASELABS Create is a powerful software development kit (SDK) for the development of data fusion algorithms. It provides a highly modular and extensible framework that allows to define custom models, e.g. to use specific sensor properties or behaviors. The framework is strong typed to prevent programming errors at its earliest stage. Learn more about the SDK

Master the challenges of data fusion

The more complex the system under development, the more demanding gets the implementation process. BASELABS Create supports the developer in tackling the challenges of data fusion. The framework handles the relevant data fusion challenges like overlapping and non-overlapping fields of view (also in different headings and the consistent tracking of multiple objects including the handover between sensors. In addition to the out-of-the box functionality, you can extend the framework with custom implementations, for example the handling of out-of-sequence measurements. Learn more about the challenges of data fusion

Further Benefits

Data fusion in the layer model

BASELABS Create closes the gap between middleware and driving function and provides all relevant building blocks for data fusion algorithms. The middleware provides the infrastructure of the system like sensor interfaces to acquire sensor data. BASELABS Create complements the middleware with the data fusion functionality. Most relevant to demanding development projects like a highway-pilot is the scalable approach of BASELABS Create. Sensors can be added easily, while the output that is used by the driving functions stays the same.

Further Benefits

Extensive compatibility: middleware and hardware

BASELABS Create is middleware-agnostic. That means that you can benefit from the advantages of data fusion development with BASELABS Create while using the middleware of your choice. The same applies to the prototyping platform that you use in your test vehicle. Besides using your development PC for running the data fusion, it can also be used on all relevant target platforms like the Nvidia DRIVE PX 2, dspace MicroAutobox, Renesas R-Car H3 and others. Runtime licenses are available for the usage in test fleets or in-the-loop setups.

Challenges of data fusion

The more complex the system under development, the more demanding gets the implementation process. BASELABS Create supports the developer in tackling the challenges of data fusion.

360° perception


False Negatives

False Positives

True Positives with Noise


User experience

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BASELABS Create reduces the workload for the data fusion developer. As a user, you provide system information like the sensor (mounting position), model and sensor parameters (like the field of view and the detection rate as well as the false alarm rate). Existing models can be re-used as well. Then, you select different models with the GUI or via a programmatic call into the SDK. In most cases, the selection of a system model, a sensor measurement model and a sensor detection model is required. In addition, the selection of a track management strategy is necessary. With that information, BASELABS Create handles the 'calculation aspects' of the system: the sensor data fusion, the hand-over between sensors, all probabilistic calculations and the synchronization of the sensors.

User experience

Use the operating system of your choice

Windows and Linux

Visual Studio

Mono Develop

You can use BASELABS Create either under Windows or under Linux. Under Windows, BASELABS Create is integrated into Microsoft Visual Studio and allows the development with the Data Fusion Designer as well as the programmatic usage of the SDK. Under Linux, BASELABS Create is used with Mono and allows the programmatic usage of the SDK.

User experience

Data fusion designer

User experience

Domain Specific Data Fusion SDK

Modular Architecture


Inline formula documentation

Besides the graphical configuration with the Data Fusion Designer, BASELABS Create can be used as a software development kit (SDK) to access expert features and increase the implementation flexibility. The user can call numerous building blocks of a data fusion system from the SDK and configure the data fusion in a programmatic way.

User experience

User support

Our customers work on demanding data fusion implementation projects with tight timelines. Good to know that BASELABS has a broad experience in project implementations for OEMs and Tier1s worldwide. Therefore, our customers experience outstanding support both from an application- as well as a data fusion theory-point of view.

"Just wanted to reach out to compliment the exceptional support we are getting as per the email thread below. Competent, in time and to the point. Again, this is excellent customer support in its purest form!" Lead development engineer, European OEM.


Product improvements, new software features and bug fixing
BASELABS is working on permanent product improvements including new features or bug fixing. We inform our users about software updates and releases regularly.


  • Fixed: The Data Fusion Designer cannot be opened in Visual Studio 2013.


  • Fixed: Compiler error if project path contains symbols such as "#"
  • Fixed: Stability and consistency issues in the user interface of the data fusion designer
  • Fixed: Code generated by data fusion designer contains error when namespace and file name are identical
  • Fixed: Error during code generation in data fusion designer
  • Fixed: Initialization code is not generated w/o vADASdeveloper reference
  • Fixed: Save dml file does not work
  • Fixed: Settings of a generated vADASdeveloper component are not grouped
  • Fixed: Items are missing in the list of linkable settings in the data fusion designer
  • Fixed: Generated code mixes spaces and tabs
  • Fixed: Generated code does not check for negative time difference
  • Fixed: Reference to System.Drawing is missing
  • Fixed: Message boxes of the data fusion designer are not visible
  • Fixed: Inconsistent project saving state after code generation
  • Fixed: Visual Studio crashes if a BASELABS Create component is added in the Connection Designer of vADASdeveloper 2.5
  • Fixed: Invalid code generated for 'Smart sensor detection model'
  • New: The data fusion designer and the item templates can be used in Visual Studio 2012 and 2013


This is a major release of BASELABS Create which contains the following new features and fixed issues:

New and improved:

  • Configurable data fusion: Data fusion systems can now be configured using a rich user interface that is integrated in Visual Studio.
  • Camera measurement and detection models
  • Radar detection modelSmart sensor models
  • Track management
  • Constant acceleration model
  • Visual Studio item templates for creating new measurement models, detection models, track proposers, track removers and system models.
  • Improved accuracy of radar measurement model

Fixed issues:

  • Fixed: Biased calculation of the covariance in the SampleSet.ToGaussian() method
  • Fixed: BayesFilter.Predict() returns wrong results
  • Fixed: Race condition in licensing
  • Fixed: PersitenceModel.Evaluate() returns negative values for retrodiction
  • Fixed: Call for Evaluate() on system models leads to numeric exception
  • Fixed: License Exception in vADASdeveloper connection designer when GhostDoc is installed
  • Fixed: Usage of BASELABS Create with folder path including symbols such as "#"


This software release includes the following product improvements:

  • Linux development support. Developers can now develop on Linux, e.g. Ubuntu with MonoDevelop.
  • Fixed a bug in the vADASdeveloper connection designer when GhostDoc is installed which caused a license exception.


This is a bug fix release of BASELABS Create which contains the following improvements:

  • Fixed a bug that could cause the BayesFilter.Predict() method to return wrong results.
  • Fixed a bug that could cause a biased calculation of the covariance in the SampleSet.ToGaussian() method.
  • Fixed a bug that could cause the PersistenceModel.Evaluate() method to return negative likelihood values in retrodiction scenarios.
  • Fixed a bug that could cause licensing issues on Linux.


This is a bug fix release of BASELABS Create which contains the following improvements:

  • Fixed a bug in the example code of the 'BASELABS Create Data Fusion Application' template project which is part of the Visual Studio integration of BASELABS Create.
  • Fixed a bug in the Visual Studio extension which caused Visual Studio to crash if multiple versions of BASELABS Create are used.
  • Fixed a bug in the 'Baselabs.Statistics' NuGet package which could lead to inconsistent assembly references after an update of BASELABS Create.
  • Removed the contract assemblies from the 'Baselabs.Statistics' NuGet package.
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