Table 3.

continued

[142]	2019	Medical data analysis	RGB + FA + OCT	Alignment	Color fundus-FA (ACC = 90.10%)
					Color fundus-OCT (ACC = 84.59%)
[144]	2018	Medical data analysis	MR + TRUS	Alignment	A total of 763 sets of data from the National Institutes of Health and Mount Sinai Hospital (TRE = 3.48mm)
[145]	2020	Medical data analysis	X-Ray + Ultrasound + CT	Data fusion	A dataset of X-Ray, CT and Ultrasound images (PREC = 100%)
[155]	2019	Autonomous systems	RGB + LiDAR + Radar	Feature concatenation	nuScenes (mAP = 28.9%; NDS = 44.9%)
[199]	2019	Autonomous systems	RGB + D + Inertial measurements	Filter-based approaches or nonlinear optimization approaches	KITTI Odometry ($t_{\mathit{rel}}=$1.78%; $r_{\mathit{rel}}$ = 0.95%)
					AirSim ($t_{\mathrm{rel}}$ = 4.53%; $r_{\mathrm{rel}}=$8.75%)

ACC accuracy, MR mean rank, SPL success weighted by path length, mAP mean average precision, AP average precision, R@i recall for setting i, PREC precision, PV percentage of the votes, PS processing speed, TRE target registration error, NDS nuScenes detection score, ATE absolute trajectory error, Trel average translational error percentage, Rrel rotational error