1. A method for multi-modal data fusion in a multi-modal system comprising a plurality of input modalities, the method comprising the steps of: (i) Receiving one or more segments of multi-modal data, each of said segments being associated respectively with said modalities; (ii) Initiating a dynamically variable wait period after one of said segments is received, said dynamically variable wait period having a duration determined from data fusion timing statistics of the system; (iii) Waiting for reception of any further said segments during said dynamically variable wait period; and (v) Fusing said segments received during said steps (i) to (iii) to provide fused data.