An identification system uses mappings of known objects to codebooks representing those objects to identify an object represented by multiple input representations or to verify that an input representation corresponds to an input known object. To identify the object, the identification system generates an input feature vector for each input representation. The identification system then accumulates for each known object the distances between the codebook of that object and each of the input feature vectors. The distance between a codebook and a feature vector may be the minimum of the distances between the code vectors of the codebook and the feature vector. The identification system then selects the object with the smallest accumulated distance as being the object represented by the multiple input representations.