In an example embodiment, a first vehicle platform includes a first sensor that has a first perspective directed toward an external environment and that captures first sensor data reflecting first objects, and a communication unit for receiving second sensor data from a second vehicle platform that reflects second objects included in the external environment. One or more computing devices extract a first set of multi-modal features from the first objects, and a second set of multi-modal features from the second objects in the second image, process the first set of multi-modal features and the second set of multi-modal features using separate machine learning logic to produce a first output and a second output, respectively, generate a similarity score using the first output and the second output; and associate the first and second perspectives using the similarity score.