Bidirectional statistical consolidation of multi-modal grouped observations

Implementations generally relate to estimating grouped observations. In some implementations, a method includes detecting a license plate of a vehicle. The method further includes capturing a plurality of images of the license plate. The method further includes computing candidate regions associated with the license plate based on the images of the license plate. The method further includes computing candidate characters of the license plate based on the candidate regions and the images of the license plate. The method further includes selecting target characters from the candidate characters based on one or more predetermined selection criteria.