Sensor Fusion

Fusing multiple sensor modalities: camera + LiDAR, IMU integration, Kalman filtering, and multi-sensor perception pipelines.

Learning Objectives

1. Why Sensor Fusion?

2. Kalman Filter Family

2.1 Linear Kalman Filter

2.2 Extended Kalman Filter (EKF)

2.3 Unscented Kalman Filter (UKF)

3. IMU Integration

3.1 IMU Preintegration

3.2 IMU + Visual Fusion

4. Camera-LiDAR Fusion

4.1 Early Fusion

4.2 Late Fusion

4.3 BEVFusion / TransFusion

5. Radar-Camera Fusion

6. Fusion Architectures

6.1 Multi-View Fusion

6.2 Temporal Fusion

7. ROS 2 Sensor Fusion Pipeline

Exercises

References