The proliferation of IoT and mobile devices equipped with heterogeneous sensors has enabled new applications that rely on the fusion of time-series data generated by multiple sensors with different modalities  ...  Centaur combines a data cleaning module, which is a denoising autoencoder with convolutional layers, and a multimodal fusion module, which is a deep convolutional neural network with the self-attention  ...  INTRODUCTION The demand for Internet of Things (IoT) and mobile devices has witnessed a steady growth in the last decade.  ...