Multisensory integration plays several important roles in the nervous system. One is to combine information from multiple complementary cues to improve stimulus detection and discrimination. Another is to resolve peripheral sensory ambiguities and create novel internal representations that do not exist at the level of individual sensors. Here we focus on how ambiguities inherent in vestibular, proprioceptive and visual signals are resolved to create behaviorally useful internal estimates of our self-motion. We review recent studies that have shed new light on the nature of these estimates and how multiple, but individually ambiguous, sensory signals are processed and combined to compute them. We emphasize the need to combine experiments with theoretical insights to understand the transformations that are being performed.
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