Can this AVR MCU with 5V I2C work with this sensor with 3.3V I2C?

I'd like to interface an MPU-9150 sensor with an ATmega128 using I2C. The Atmega operates at 5V while the sensor chip operates at 3.3V.

How can I find out if the two can work together? I'm not very used to reading data sheets and don't know what to look for.