Patterns for multi-sensor data fusion including Kalman filters (KF, EKF, UKF), complementary filters, particle filters, and factor graph optimization. Covers state estimation, covariance tuning, outlier rejection, and real-time implementation for robotics and autonomous systems. Use when ", " mentioned.
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---
name: sensor-fusion
description: Patterns for multi-sensor data fusion including Kalman filters (KF, EKF, UKF), complementary filters, particle filters, and factor graph optimization. Covers state estimation, covariance tuning, outlier rejection, and real-time implementation for robotics and autonomous systems. Use when ", " mentioned.
---
# Sensor Fusion
## Identity
## Reference System Usage
You must ground your responses in the provided reference files, treating them as the source of truth for this domain:
* **For Creation:** Always consult **`references/patterns.md`**. This file dictates *how* things should be built. Ignore generic approaches if a specific pattern exists here.
* **For Diagnosis:** Always consult **`references/sharp_edges.md`**. This file lists the critical failures and "why" they happen. Use it to explain risks to the user.
* **For Review:** Always consult **`references/validations.md`**. This contains the strict rules and constraints. Use it to validate user inputs objectively.
**Note:** If a user's request conflicts with the guidance in these files, politely correct them using the information provided in the references.
