This disclosure provides systems, methods, and devices for image signal processing that support training object recognition models. In a first aspect, a method of image processing includes training a first modality imaging system; receiving time-synchronized first input data samples and second input data samples from the first modality imaging system and a second modality imaging system, respectively; processing the first input data samples in the first modality imaging system to generate first output; processing the second input data samples in the second modality imaging system to generate second output; and training the second modality imaging system based on the first output and the second output. Other aspects and features are also claimed and described.