A Survey of Multimodal Sensor Fusion for Passive RF and EO Information Integration Table 5. Methods of Evaluating EO/RF Fusion Algorithms Applications Indoor Tracking Target Detection and Tracking Automated Activity Recognition Method References Multilevel Mapping Multilevel map classification evaluation using producer's and user's accuracies. Location estimation error compared to ground truth Air Traffic Detection Cramer-Rao lower bound, performance indices, range estimation error in terms of mean and standard deviation.