A method for tracking objects detected by at least one sensing device on a materials handling vehicle; the method comprising: receiving sensor data from at least one sensing device (76,76A,76B) by a controller on a materials handling vehicle, wherein the sensor data comprises: data representative of whether an object is detected in a scanned zone that is scanned by the at least one sensing device, the scanned zone being a part of an environment in which objects are tracked; and data representative of a lateral distance that any detected objects are from a reference coordinate associated with the vehicle; wherein each detected object is tracked until the object is no longer located in the environment by: assigning the object to at least one bucket defined within the scanned zone (202A,202B) by the at least one sensing device, the at least one bucket being used for tracking objects in a plane generally parallel to the floor and that are detected in the scanned zone; and using at least one of subsequent sensor data and dead reckoning to re-assign the object to adjacent buckets (220,222) and to determine an updated lateral distance that the object is from the reference coordinate as the vehicle moves; and wherein the controller automatically implements a steer correction maneuver if a tracked object enters a steer away zone defined within the environment. receiving sensor data from at least one sensing device (76,76A,76B) by a controller on a materials handling vehicle, wherein the sensor data comprises: data representative of whether an object is detected in a scanned zone that is scanned by the at least one sensing device, the scanned zone being a part of an environment in which objects are tracked; and data representative of a lateral distance that any detected objects are from a reference coordinate associated with the vehicle; data representative of whether an object is detected in a scanned zone that is scanned by the at least one sensing device, the scanned zone being a part of an environment in which objects are tracked; and data representative of a lateral distance that any detected objects are from a reference coordinate associated with the vehicle; wherein each detected object is tracked until the object is no longer located in the environment by: assigning the object to at least one bucket defined within the scanned zone (202A,202B) by the at least one sensing device, the at least one bucket being used for tracking objects in a plane generally parallel to the floor and that are detected in the scanned zone; and using at least one of subsequent sensor data and dead reckoning to re-assign the object to adjacent buckets (220,222) and to determine an updated lateral distance that the object is from the reference coordinate as the vehicle moves; and assigning the object to at least one bucket defined within the scanned zone (202A,202B) by the at least one sensing device, the at least one bucket being used for tracking objects in a plane generally parallel to the floor and that are detected in the scanned zone; and using at least one of subsequent sensor data and dead reckoning to re-assign the object to adjacent buckets (220,222) and to determine an updated lateral distance that the object is from the reference coordinate as the vehicle moves; and wherein the controller automatically implements a steer correction maneuver if a tracked object enters a steer away zone defined within the environment.