Various techniques for collective perception messaging are disclosed herein. In an example, a machine receives, from a source device, a signal value for provision to a sink device, the signal value corresponding to a measurement of an environmental value. The machine accesses, from a storage device, an error term for the signal value. The machine accesses, from the storage device, a source reliability term for the source device. The machine accesses, from the storage device, a source-sink relation term based on the source device and the sink device. The machine determines a distribution for the environmental value based on the error term, the source reliability term, and the source-sink relation term. The machine determines, based on the distribution for the environmental value, whether the signal value is reliable.