Abstract: A process for sensing a scene. The process includes receiving sensor data from a plurality of sensor modalities, where each sensor modality observes at least a portion of the scene containing at least one of the objects of interest and generates sensor data conveying information on the scene and of the object of interest. The process further includes processing the sensor data from each sensor modality to detect objects of interest and produce a plurality of primary detection results, each detection result being associated with a respective sensor modality. The process also includes fusing sensor data from a first sensor modality with sensor data from a second sensor modality to generate a fused 3D map of the scene, processing the fused 3D map to detect objects of interest and produce secondary detection results and performing object level fusion on the primary and the secondary detection results.