diff --git a/CMakeLists.txt b/CMakeLists.txt
index 442737d..9cc2cfb 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -34,7 +34,9 @@ add_message_files(
     LaserScanSegmentList.msg
     MatchingErrorStamped.msg
     Object.msg
+    ObjectEmbedding.msg
     ObjectList.msg
+    ObjectView.msg
     NamedColor.msg
     NamedShape.msg
     Person.msg
diff --git a/msg/Face.msg b/msg/Face.msg
index 2633f62..2ad21e3 100644
--- a/msg/Face.msg
+++ b/msg/Face.msg
@@ -1,5 +1,7 @@
-float32 leftEyeCenterX      # postion of the left eye of the face
+float32 leftEyeCenterX      # position of the left eye of the face
 float32 leftEyeCenterY
-float32 rightEyeCenterX     # postion of the right eye of the face
+float32 rightEyeCenterX     # position of the right eye of the face
 float32 rightEyeCenterY
-sensor_msgs/Image image     # image of the face
+
+mas_perception_msgs/ObjectView[] views    # extracted views of the face (RGB image, point cloud, image embedding);
+										  # an array since we may have multiple views of the same person
diff --git a/msg/Object.msg b/msg/Object.msg
index 15d9ea4..656fd04 100644
--- a/msg/Object.msg
+++ b/msg/Object.msg
@@ -22,11 +22,10 @@ NamedColor dominant_color
 # object shape
 NamedShape shape
 
-# Extracted RGB image of the image
-sensor_msgs/Image rgb_image
-
-# Segmented cluster that represents the object
-sensor_msgs/PointCloud2 pointcloud
+# View representation including an RGB image of the object, a point cloud,
+# and potentially an embedding of the image. An array since we may have
+# multiple views of the same object
+mas_perception_msgs/ObjectView[] views
 
 # The bounding box of the object
 mas_perception_msgs/BoundingBox bounding_box
diff --git a/msg/ObjectEmbedding.msg b/msg/ObjectEmbedding.msg
new file mode 100644
index 0000000..99ff074
--- /dev/null
+++ b/msg/ObjectEmbedding.msg
@@ -0,0 +1 @@
+float32[] embedding
diff --git a/msg/ObjectView.msg b/msg/ObjectView.msg
new file mode 100644
index 0000000..8f72725
--- /dev/null
+++ b/msg/ObjectView.msg
@@ -0,0 +1,3 @@
+sensor_msgs/Image image
+sensor_msgs/PointCloud2 point_cloud
+mas_perception_msgs/ObjectEmbedding embedding
diff --git a/msg/Person.msg b/msg/Person.msg
index 32d82b6..9c2fc6e 100644
--- a/msg/Person.msg
+++ b/msg/Person.msg
@@ -2,8 +2,9 @@ string identity                         # unique string that identify the person
 string name                             # given name, e.g. 'John Doe'
 float32 age
 mas_perception_msgs/Face face
-sensor_msgs/Image body_image            # extracted RGB image of the person
-sensor_msgs/PointCloud2 body_points     # extracted point cloud of the person
+
+mas_perception_msgs/ObjectView[] views    # extracted views of the person (RGB image, point cloud, image embedding);
+                                          # an array since we may have multiple views of the same person
 
 string[] attribute_names                # e.g. gender, emotion,...
 string[] attributes                     # e.g. male, angry,...