"This book provides a novel perspective on secure state estimation and multimodal perception for robotic mobility platforms such as autonomous vehicles. In particular, the book discusses the two essential topics in autonomous systems: 1. secure state estimation that focuses on system robustness under cyber-attacks, and 2. multi-sensor fusion that helps improve system performance based on the complementary characteristics of different sensors. Finally, the authors introduce a geometric pose estimation framework to incorporate measurements and constraints into a unified fusion scheme, where real-time road-constrained and heading-assisted pose estimation is achieved. The proposed geometric pose estimation has been validated using public and self-collected data and can be further extended to other kinds of sensor configurations with state and measurement constraints."-- Provided by publisher.