Thoughts After RGB–LiDAR Fusion Experiments

One practical lesson

Fusion quality depends on more than the nominal accuracy of each branch. Timestamp consistency, confidence estimation and failure detection can determine whether a fused result is actually more stable than the best single sensor.

Useful checks

• Inspect modality-specific residuals before fusion.
• Separate sensor quality from fusion quality.
• Track abnormal frames instead of reporting only mean error.
• Verify the temporal contract between data acquisition and estimator update.