A method for multi-sensor fusion using a projective particle filter includes measuring, using a plurality of sensors, data related to one or more objects. A higher dimensional state space may be sampled using particle data. Particle data may be projected onto an observation space to extract measurement data. The measurement data are combined to infer higher-dimensional information. The higher dimensional state space includes presumed information related to one or more states associated with the one or more objects. The higher-dimensional information includes estimated information related to one or more states associated with the one or more objects.