Embodiments relate to performing inference, such as object recognition, based on sensory inputs received from sensors and location information associated with the sensory inputs. The sensory inputs describe one or more features of the objects. The location information describes known or potential locations of the sensors generating the sensory inputs. An inference system learns representations of objects by characterizing a plurality of feature-location representations of the objects, and then performs inference by identifying or updating candidate objects consistent with feature-location representations observed from the sensory input data and location information. In one instance, the inference system learns representations of objects for each sensor. The set of candidate objects for each sensor is updated to those consistent with candidate objects for other sensors, as well as the observed feature-location representations for the sensor.