A system comprises a computer including a processor and a memory. The memory includes instructions such that the processor is programmed to determine a pairwise region of interest feature similarity based on features extracted from a first cropped image portion and corresponding point cloud data and features extracted from a second cropped image portion and corresponding point cloud data. The processor is also programmed to determine a loss using a loss function based on the pairwise region of interest feature similarity, wherein the loss function corresponds to at least one a first deep neural network or a second deep neural network. The processor is also programmed to update at least one weight of the at least one of the first deep neural network or the second deep neural network based on the loss.