Some embodiments provide a sensor data-processing system which detects and classifies objects detected in an environment via fusion of sensor data representations generated by multiple separate sensors. The sensor data-processing system can fuse sensor data representations generated by multiple sensor devices into a fused sensor data representation and can further detect and classify features in the fused sensor data representation. Feature detection can be implemented based at least in part upon utilizing a feature-detection model generated via one or more of deep learning and traditional machine learning. The sensor data-processing system can adjust sensor data processing of representations generated by sensor devices based on external factors including indications of sensor health and environmental conditions. The sensor data-processing system can be implemented in a vehicle and provide output data associated with the detected objects to a navigation system which navigates the vehicle according to the output data.