An object tracking system suitable for use on an automated vehicle, said system comprising: a camera used to capture an image of a vision-field-of-view (VFOV) of the camera; a radar-sensor used to detect a radar-signal reflected from a radar-field-of-view (RFOV) that overlaps the VFOV; and a controller in communication with the camera and the radar-sensor, said controller configured to generating vision-tracks associated with respective instances of objects detected in the image by the controller; generating radar-tracks associated with respective instances of grouped-tracklets indicated by the radar-signal, said tracklets representing scattering centers of an object; determine a match-feasibility for each combination of vision-track and radar-track, wherein each match-feasibility is a binary-value set equal to one when at least one of a) an azimuth-difference between a vision-angle of the vision-track and a radar-angle of a radar-track is less than an azimuth-threshold, b) a distance-difference between a vision-distance of the vision-track and a radar-distance of a radar-track is less than a distance-threshold, and c) a speed-difference between a vision-speed of the vision-track and a radar-speed of a radar-track is less than a speed-threshold, select from all possible vision-track and radar-track pairing-combinations a list of feasible-match-patterns, wherein a pairing-combination is a feasible-match-pattern when the match-feasibility of each combination of vision-track and radar-track in the pairing-combination is equal to one, determine a quality-value of each instance of the feasible-match-pattern, said quality-value based on a reciprocal of a weighted-combination of instances of the azimuth-difference, the distance-difference, and the speed-difference used to determine the match-feasibility, characterized in that the controller is further configured to determine a normalized-value for each quality-value by scaling the quality-values with a scaling-factor selected so a sum of the normalized-values is equal to one, and calculate a raw-probability for each combination of vision-track and radar-track by summing the normalized-values of the feasible-match-patterns that indicate a match for that combination of vision-track and radar-track. a camera used to capture an image of a vision-field-of-view (VFOV) of the camera; a radar-sensor used to detect a radar-signal reflected from a radar-field-of-view (RFOV) that overlaps the VFOV; and a controller in communication with the camera and the radar-sensor, said controller configured to generating vision-tracks associated with respective instances of objects detected in the image by the controller; generating radar-tracks associated with respective instances of grouped-tracklets indicated by the radar-signal, said tracklets representing scattering centers of an object; determine a match-feasibility for each combination of vision-track and radar-track, wherein each match-feasibility is a binary-value set equal to one when at least one of a) an azimuth-difference between a vision-angle of the vision-track and a radar-angle of a radar-track is less than an azimuth-threshold, b) a distance-difference between a vision-distance of the vision-track and a radar-distance of a radar-track is less than a distance-threshold, and c) a speed-difference between a vision-speed of the vision-track and a radar-speed of a radar-track is less than a speed-threshold, a) an azimuth-difference between a vision-angle of the vision-track and a radar-angle of a radar-track is less than an azimuth-threshold, b) a distance-difference between a vision-distance of the vision-track and a radar-distance of a radar-track is less than a distance-threshold, and c) a speed-difference between a vision-speed of the vision-track and a radar-speed of a radar-track is less than a speed-threshold, select from all possible vision-track and radar-track pairing-combinations a list of feasible-match-patterns, wherein a pairing-combination is a feasible-match-pattern when the match-feasibility of each combination of vision-track and radar-track in the pairing-combination is equal to one, determine a quality-value of each instance of the feasible-match-pattern, said quality-value based on a reciprocal of a weighted-combination of instances of the azimuth-difference, the distance-difference, and the speed-difference used to determine the match-feasibility, characterized in that the controller is further configured to determine a normalized-value for each quality-value by scaling the quality-values with a scaling-factor selected so a sum of the normalized-values is equal to one, and calculate a raw-probability for each combination of vision-track and radar-track by summing the normalized-values of the feasible-match-patterns that indicate a match for that combination of vision-track and radar-track.