| name | sensor-fusion |
| description | Multi-sensor fusion algorithms for perception in autonomous driving |
| allowed-tools | ["Read","Write","Glob","Grep","Edit","WebFetch","WebSearch","Bash"] |
| metadata | {"version":"1.0","category":"automotive-engineering","tags":["adas","autonomous-driving","perception","sensor-fusion"]} |
| graph | {"domains":["domain:automotive-engineering"],"skillAreas":["skill-area:sensor-fusion","skill-area:motion-planning","skill-area:physics-simulation"],"roles":["role:systems-integration-engineer","role:embedded-engineer"]} |
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
Usage Guidelines
- Preprocess sensor data for consistent coordinate frames
- Select appropriate tracking filters based on object dynamics
- Implement robust association for multi-target scenarios
- Fuse sensor confidence for reliable perception
- Handle time delays and synchronization issues
- Validate fusion against ground truth data
Dependencies
- ROS/ROS2
- TensorFlow
- PyTorch
- NVIDIA DriveWorks
Process Integration
- ADA-001: Perception System Development
- ADA-002: Path Planning and Motion Control
- ADA-003: ADAS Feature Development
- ADA-004: Simulation and Virtual Validation