Abstract: Certain examples described herein relate to a system for processing image data. In such examples, the system includes an input interface to receive the image data, which is representative of at least one view of a scene. The system also includes an initialisation engine to generate a first latent representation associated with a first segmentation of at least a first view of the scene, wherein the first segmentation is a semantic segmentation. The initialisation engine is also arranged to generate a second latent representation associated with at least a second view of the scene. The system additionally includes an optimisation engine to jointly optimise the first latent representation and the second latent representation, in a latent space, to obtain an optimised first latent representation and an optimised second latent representation.