Evaluation of an Uncertainty-Aware Late Fusion Algorithm for Multi-Source Bird's Eye View Detections Under Controlled Noise
Maryem Fadili, Louis Lecrosnier, Steve Pechberti, Redouane Khemmar · 2025
Reliable multi-source fusion is crucial for robust perception in autonomous systems. However, evaluating fusion performance independently of detection errors remains challenging. This work introduces a systematic evaluation framework that injects controlled noise into ground-truth bounding boxes to isolate the fusion process. We then propose Unified Kalman Fusion (UniKF), a late-fusion algorithm based on Kalman filtering to merge Bird's Eye View (BEV) detections while handling synchronization issues. Experiments show that UniKF outperforms baseline methods across various noise levels, achieving up to$3 \times$lower object's positioning and orientation errors and$2 \times$lower dimension estimation errors, while maintaining nearperfect precision and recall between 99.5 % and 100 %.