Methods and systems for selective sensor fusion

A non-transitory computer-readable storage medium with instructions stored thereon that, when executed by a computing system, causes one or more processors to:

• determine, based on first sensing data obtained by a first sensing system of a movable object, an estimated physical state of the movable object, during a time duration in which second sensing data from a second sensing system of the movable object is unavailable or is not updated, the first sensing system and the second sensing system having different sampling frequencies;
• in response to determining that the second sensing data from the second sensing system becomes available or is updated, determine an observed physical state of the movable object based on the second sensing data;
• and
• based on a deviation between the observed physical state and the estimated physical state of the movable object, determine whether to update the physical state of the movable object based on the observed physical state, the deviation being indicative of a validity of the sensing data of the second sensing system.

A system for determining a validity of vision sensing by an imaging device of a movable object, comprising one or more processors configured to:

• determine a plurality of observed physical states of the movable object based on image data obtained by a plurality of imaging devices for vision sensing;
• determine an estimated physical state of the movable object based on sensing data obtained by an inertial measurement unit (IMU);
• and
• determine a validity of vision sensing by each of the plurality of imaging devices based on:
• a deviation between each of the plurality of observed physical states and one of the plurality of estimated physical states;
• and
• a predetermined threshold.