Perception of motion involves the integration of information from visual, vestibular, and proprioceptive sensory organs. Early models representing how the brain combines sensory cues use state-space dynamical models to reproduce perceptual phenomena such as velocity storage, wherein participants perceive a constant angular velocity as a decaying exponential angular velocity. While sensory signal states are the focus of these early models, our recent observations suggest that the variance of both sensory signals and the internally represented motion state are as important in representing how the brain optimally integrates sensory information to generate perceptions of motion.