Evaluation of an Uncertainty-Aware Late Fusion Algorithm for Multi-Source Bird's Eye View Detections Under Controlled Noise

Reliable multi-source fusion is crucial for robust perception in autonomous systems. However, evaluating fusion performance independently of detection errors remains challenging. This work introduces a systematic evaluation framework that injects controlled noise into ground-truth bounding boxes to isolate the fusion process. We then propose Unified Kalman Fusion (UniKF), a late-fusion algorithm based on Kalman filtering to merge Bird's Eye View (BEV) detections while handling synchronization issues. Experiments show that UniKF outperforms baseline methods across various noise levels, achieving up to <tex xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">$3 \times$</tex> lower object's positioning and orientation errors and <tex xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">$2 \times$</tex> lower dimension estimation errors, while maintaining nearperfect precision and recall between 99.5 % and 100 %.