Environmental recognition systems may improve recognition accuracy by leveraging local and nonlocal features in a recognition target. A local decoder may be used to analyze local features, and a nonlocal decoder may be used to analyze nonlocal features. Local and nonlocal estimates may then be exchanged to improve the accuracy of the local and nonlocal decoders. Additional iterations of analysis and exchange may be performed until a predetermined threshold is reached. In some embodiments, the system may comprise extrinsic information extractors to prevent positive feedback loops from causing the system to adhere to erroneous previous decisions.