UniKF, a Kalman-filter-based late fusion for BEV detections, achieves lower errors than IoU-based baselines on synthetic noise, but only marginal gains over the authors' own WLS method.
Collaborative perception in autonomous driving: Methods, datasets, and challenges,
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Evaluation of an Uncertainty-Aware Late Fusion Algorithm for Multi-Source Bird's Eye View Detections Under Controlled Noise
UniKF, a Kalman-filter-based late fusion for BEV detections, achieves lower errors than IoU-based baselines on synthetic noise, but only marginal gains over the authors' own WLS method.