Systems and methods fuse sensor data in a vehicle. The system includes an image processor formed as a first system on a chip (SoC) to process images obtained from outside the vehicle by a camera to classify and identify objects. A surround-view processor formed as a second SoC processes close-in images obtained from outside the vehicle by a surround-view camera to classify and identify obstructions within a specified distance of the vehicle. The close-in images are closer to the vehicle than the images obtained by the camera. An ultrasonic processor obtains distance to one or more of the obstructions, and a fusion processor formed as a microcontroller fuses information from the surround-view processor and the ultrasonic processor based on a speed of the vehicle being below a threshold value.