An object tracking system suitable for use on an automated vehicle includes a camera, a radar-sensor and a controller. The controller is configured to assign a vision-identification to each vision-track associated with an instance of an object detected using the camera, and assign a radar-identification to each radar-glob associated with an instance of grouped-tracklets indicated detected using the radar-sensor. The controller is further configured to determine probabilities that a vision-track and a radar-glob indicate the same object. If the combination has a reasonable chance of matching it is includes in a further screening of the data to determine a combination of pairings of each vision-track to a radar-track that has the greatest probability of being the correct combination.