A method for radar tracking, comprising: establishing, by a radar system , a track to an object in an environment using information obtained from a model, the information obtained from the model including object measurements estimated from a radar data cube representation of signals received from the environment ; determining, apart from the information obtained from the model, whether a radar detection observed from the signals received from the environment corresponds to a same object as the track established using the information obtained from the model; responsive to determining that the radar detection corresponds to the same object as the track established using the information obtained from the model, augmenting, using additional information derived from the radar detection, part of the track initialized according to the object measurements obtained from the model to improve accuracy or detail associated with that part of the track ; determining whether another radar detection observed from the signals received from the environment corresponds to the same object as the track established using the information obtained from the model; and responsive to determining that the other radar detection observed from the signals received from the environment does not correspond to the same object as the track established using the information obtained from the model, establish, apart from using the information obtained from the model, another track to another object using additional information derived from the other radar detection to support object tracking of additional objects than the model reports in response to an analysis of the radar data cube . establishing, by a radar system , a track to an object in an environment using information obtained from a model, the information obtained from the model including object measurements estimated from a radar data cube representation of signals received from the environment ; determining, apart from the information obtained from the model, whether a radar detection observed from the signals received from the environment corresponds to a same object as the track established using the information obtained from the model; responsive to determining that the radar detection corresponds to the same object as the track established using the information obtained from the model, augmenting, using additional information derived from the radar detection, part of the track initialized according to the object measurements obtained from the model to improve accuracy or detail associated with that part of the track ; determining whether another radar detection observed from the signals received from the environment corresponds to the same object as the track established using the information obtained from the model; and responsive to determining that the other radar detection observed from the signals received from the environment does not correspond to the same object as the track established using the information obtained from the model, establish, apart from using the information obtained from the model, another track to another object using additional information derived from the other radar detection to support object tracking of additional objects than the model reports in response to an analysis of the radar data cube . <EOS>