A system for computing correspondence between multiple sensor observations of a scene, comprising: an interface for receiving first spatiotemporal datasets and second spatiotemporal datasets of a plurality of moving objects in a scene, the first spatiotemporal datasets and second spatiotemporal datasets are based on signals reflected from the plurality of moving objects and originate from a first sensor and a second sensor respectively, where the first sensor and the second sensor capture different types of signal; wherein the first spatiotemporal datasets originate from a camera sensor; wherein the second spatiotemporal datasets originate from a radio detection and ranging, RADAR, or light detection and ranging, LIDAR, sensor; and processing circuitry, configured to: generating a plurality of first spatiotemporal object trajectories and a plurality of second spatiotemporal object trajectories based on the first spatiotemporal datasets and the second spatiotemporal datasets respectively; computing a distance metric between the first and second spatiotemporal object trajectories, by a respective mapping from a respective domain into a predetermined domain; wherein the predetermined domain is a domain comprising a coordinate system according to the first spatiotemporal trajectories originating from the camera sensor, or a domain comprising a coordinate system according to the second spatiotemporal trajectories originating from the RADAR or LIDAR sensor; executing a matching computation between the mappings of the plurality of first and second spatiotemporal object trajectories by employing the distance metric in order to calculate a similarity between each pair of mappings of first and second spatiotemporal object trajectories, wherein the matching computation pairs trajectories for which a sum of distances between pairs is minimized across all possible trajectory matching combinations; and outputting an outcome of the matching computation. an interface for receiving first spatiotemporal datasets and second spatiotemporal datasets of a plurality of moving objects in a scene, the first spatiotemporal datasets and second spatiotemporal datasets are based on signals reflected from the plurality of moving objects and originate from a first sensor and a second sensor respectively, where the first sensor and the second sensor capture different types of signal; wherein the first spatiotemporal datasets originate from a camera sensor; wherein the second spatiotemporal datasets originate from a radio detection and ranging, RADAR, or light detection and ranging, LIDAR, sensor; and processing circuitry, configured to: generating a plurality of first spatiotemporal object trajectories and a plurality of second spatiotemporal object trajectories based on the first spatiotemporal datasets and the second spatiotemporal datasets respectively; computing a distance metric between the first and second spatiotemporal object trajectories, by a respective mapping from a respective domain into a predetermined domain; wherein the predetermined domain is a domain comprising a coordinate system according to the first spatiotemporal trajectories originating from the camera sensor, or a domain comprising a coordinate system according to the second spatiotemporal trajectories originating from the RADAR or LIDAR sensor; executing a matching computation between the mappings of the plurality of first and second spatiotemporal object trajectories by employing the distance metric in order to calculate a similarity between each pair of mappings of first and second spatiotemporal object trajectories, wherein the matching computation pairs trajectories for which a sum of distances between pairs is minimized across all possible trajectory matching combinations; and outputting an outcome of the matching computation. generating a plurality of first spatiotemporal object trajectories and a plurality of second spatiotemporal object trajectories based on the first spatiotemporal datasets and the second spatiotemporal datasets respectively; computing a distance metric between the first and second spatiotemporal object trajectories, by a respective mapping from a respective domain into a predetermined domain; wherein the predetermined domain is a domain comprising a coordinate system according to the first spatiotemporal trajectories originating from the camera sensor, or a domain comprising a coordinate system according to the second spatiotemporal trajectories originating from the RADAR or LIDAR sensor; executing a matching computation between the mappings of the plurality of first and second spatiotemporal object trajectories by employing the distance metric in order to calculate a similarity between each pair of mappings of first and second spatiotemporal object trajectories, wherein the matching computation pairs trajectories for which a sum of distances between pairs is minimized across all possible trajectory matching combinations; and outputting an outcome of the matching computation.