Accuracy, reliability and latency are critical aspects in both autonomous and active safety systems. Fusing the data from multiple sensors (Camera, Radar, LiDAR) is necessary to ensure optimal performance. There are two main approaches to fusing the data which are raw sensor fusion (Raw data from sensors) and fusing at an object level (Smart Sensors perform identification/detection). This discussion will go over the main methods of sensor fusion and the pros, cons and challenges of each.