A system for determining an occupancy of an environment is provided. The system may include an image sensor, a motion sensor, and a controller in communication with the image sensor and the motion sensor. The controller may be configured to generate an encoded image representation by encoding the image signal based on an autoencoder. The controller may be further configured to generate an encoded motion representation by encoding the motion signal based on the autoencoder. The controller may be further configured to train the autoencoder with the image signal and/or motion signal. The controller may be further configured to generate a fused representation based on the encoded image representation and the encoded motion representation. The controller may be further configured to determine the occupancy of the environment based on the fused representation. The occupancy of the environment may be determined by applying the fused representation to a machine learning module.
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