The input data to the fusion system may be imperfect, correlated, inconsistent, and/or in disparate forms/modalities. Each of these four main categories of challenging problems can be further subcategorized into more specific problems.
Mathematical theories available to represent data imperfection, such as probability theory, fuzzy set theory, possibility theory, rough set theory, and Dempster–Shafer evidence theory (DSET)
Fusion of correlated data: KF-based techniques, such as particle filters
Fusion of inconsistent data
Fusion of disparate data：a Dempster–Shafer theoretic framework for soft/hard data fusion is presented, Another new direction of work is focused on the so called human centered data fusion paradigm that puts emphasis on the human role in the fusion process
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