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Modern platforms usually carry a myriad of sensors to create a good and versatile model of reality. Nonetheless, different sensors will provide data outputs that are different and misplaced from each other. Moreover, these sensors operate separately and do not utilize the capabilities of each other.

For example, the output of the dual vision sensor (two cameras) will be shifted and inconsistent with the output of the Lidar point cloud. These expensive sensors require expensive positioning unit (GPS/IMU) to orient themselves and will not take advantage of the unique properties of each other.

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