Sensor Fusion Skill

Purpose

Enable multi-sensor fusion algorithm development for autonomous driving perception including object detection, tracking, and environmental modeling.

Capabilities

• Camera, radar, lidar data preprocessing
• Object detection fusion algorithms
• Tracking filter implementation (Kalman, EKF, UKF)
• Association algorithms (Hungarian, GNN, JPDA)
• Occupancy grid fusion
• Confidence estimation and sensor weighting
• Time synchronization handling
• Ground truth comparison and metrics