A system includes first and second sensors and a controller. The first sensor is of a first type and is configured to sense objects around a vehicle and to capture first data about the objects in a frame. The second sensor is of a second type and is configured to sense the objects around the vehicle and to capture second data about the objects in the frame. The controller is configured to down-sample the first and second data to generate down-sampled first and second data having a lower resolution than the first and second data. The controller is configured to identify a first set of the objects by processing the down-sampled first and second data having the lower resolution. The controller is configured to identify a second set of the objects by selectively processing the first and second data from the frame.