Technique used in egomotion to fuse the data from sensors like imu, camera and gps

Autonomous Vehicles DRIVE AGX Orin DRIVE AGX Orin General
1

Please provide the following info (tick the boxes after creating this topic):
Software Version
DRIVE OS 6.0.10.0
[1] DRIVE OS 6.0.8.1
DRIVE OS 6.0.6
DRIVE OS 6.0.5
DRIVE OS 6.0.4 (rev. 1)
DRIVE OS 6.0.4 SDK
other

Target Operating System
[1] Linux
QNX
other

Hardware Platform
DRIVE AGX Orin Developer Kit (940-63710-0010-300)
DRIVE AGX Orin Developer Kit (940-63710-0010-200)
DRIVE AGX Orin Developer Kit (940-63710-0010-100)
DRIVE AGX Orin Developer Kit (940-63710-0010-D00)
DRIVE AGX Orin Developer Kit (940-63710-0010-C00)
[1] DRIVE AGX Orin Developer Kit (not sure its number)
other

SDK Manager Version
2.1.0
[1] other

Host Machine Version
native Ubuntu Linux 20.04 Host installed with SDK Manager
native Ubuntu Linux 20.04 Host installed with DRIVE OS Docker Containers
native Ubuntu Linux 18.04 Host installed with DRIVE OS Docker Containers
other

Issue Description
Hi team, I went through the egomotion sample. Since it takes data from IMU,GPS and camera and predicts the pose of a vehicle in world coordinate system. Which technique has been used here to fuse the data from multiple sensors? How the sensor fusion is taking place?
I went through the code but I didnt get the clarity. I could not see EKF used in the source code for sensor fusion. Please help.

3

The query seems to be asking implementation details of the egomotion module API. The details are not publicly available.

4

Dear @SivaRamaKrishnaNV
I have a little confusion. Is it a sensor fusion?
If yes, I want to know the algorithms used to perform sensor fusion.
Is this what is not publicly available?

5

The sample fuses the data from IMU and GPS to get output and camera is used for rendering.