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Physics-based sensor fusion attempts to utilize the phenomenology of sensors to combine external conditions with data collected by the sensors into a global consistent dynamic representation. Although there have been a few approaches using this paradigm, it is still not entirely clear what kinds of physical models are appropriate for different sensing devices and conditions. We provide physical models that are suitable for the visible and infrared region of the spectrum. The physical models are described in detail. Moreover, the advantages and disadvantages of each model, their applicability, and guidelines for selecting the appropriate parameters are provided. Experimental results are also provided to indicate the applicability of the physical models.