A method, comprising: capturing radar data with a radar and image data with a camera (904, 906) in a multi-sensor tracking system, the radar and image data corresponding to a path of an object, the radar data including radar range data and radar velocity data for the object and the camera data including image angular position data for the object; generating an initial radar track using the radar data and initial radar parameters associated therewith stored to a memory; generating an initial camera track using the image angular position data, initial camera parameters associated therewith stored to the memory, and the radar range data; calculating one of: first correction parameters to be applied to the radar data by comparing positions for the object from the initial radar track and the initial camera track wherein, the first correction parameters are selected so that, when applied to the radar data to generate a first corrected track, a degree of correspondence between the first corrected track and the initial camera track is higher than a degree of correspondence between the initial radar track and the initial camera track; and second correction parameters to be applied to the image angular position data by comparing positions for the object from the initial radar track and the initial camera track wherein, the second correction parameters are selected so that, when applied to the image angular position data to generate a second corrected track, a degree of correspondence between the second corrected track and the initial radar track is higher than a degree of correspondence between the initial radar track and the initial camera track; and returning the first or second correction parameters to the memory to update the initial radar parameters or the initial camera parameters for use for future tracking. capturing radar data with a radar and image data with a camera (904, 906) in a multi-sensor tracking system, the radar and image data corresponding to a path of an object, the radar data including radar range data and radar velocity data for the object and the camera data including image angular position data for the object; generating an initial radar track using the radar data and initial radar parameters associated therewith stored to a memory; generating an initial camera track using the image angular position data, initial camera parameters associated therewith stored to the memory, and the radar range data; calculating one of: first correction parameters to be applied to the radar data by comparing positions for the object from the initial radar track and the initial camera track wherein, the first correction parameters are selected so that, when applied to the radar data to generate a first corrected track, a degree of correspondence between the first corrected track and the initial camera track is higher than a degree of correspondence between the initial radar track and the initial camera track; and second correction parameters to be applied to the image angular position data by comparing positions for the object from the initial radar track and the initial camera track wherein, the second correction parameters are selected so that, when applied to the image angular position data to generate a second corrected track, a degree of correspondence between the second corrected track and the initial radar track is higher than a degree of correspondence between the initial radar track and the initial camera track; and returning the first or second correction parameters to the memory to update the initial radar parameters or the initial camera parameters for use for future tracking. first correction parameters to be applied to the radar data by comparing positions for the object from the initial radar track and the initial camera track wherein, the first correction parameters are selected so that, when applied to the radar data to generate a first corrected track, a degree of correspondence between the first corrected track and the initial camera track is higher than a degree of correspondence between the initial radar track and the initial camera track; and second correction parameters to be applied to the image angular position data by comparing positions for the object from the initial radar track and the initial camera track wherein, the second correction parameters are selected so that, when applied to the image angular position data to generate a second corrected track, a degree of correspondence between the second corrected track and the initial radar track is higher than a degree of correspondence between the initial radar track and the initial camera track; and returning the first or second correction parameters to the memory to update the initial radar parameters or the initial camera parameters for use for future tracking.