传感器融合

多传感器模态融合：相机+LiDAR、IMU 积分、卡尔曼滤波和多传感器感知管线。

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