Multi-sensor data fusion technology is rapidly maturing. In recent years, numerous algorithms and techniques have been introduced or applied ranging from classic estimation and statistical methods (e.g., Bayesian inference), and pattern recognition methods, to heuristic techniques such as expert systems and templating techniques. Because of the range and variety of techniques, Hall and Linn (1990) developed a taxonomy which maps data fusion functions to classes of algorithms and to specific techniques. This paper describes a survey of commercial software tools applicable to multi-sensor data fusion. The paper identifies specific software programs, summarizes the required computing resources (hardware and software environment), and identifies the source of the software. The survey maps the computer software to the data fusion taxonomy, establishing the relationships between data fusion levels, functions, and algorithms. The intent of this paper is to allow the data fusion community to readily access these software building blocks without reinvention. Thus, building new data fusion systems may be performed with significant use of commercial off the shelf software.