A disambiguating system for disambiguating between ambiguous detections is provided. The system includes a plurality of modules, wherein each module is configured to disambiguate between ambiguous detections by selecting, as a true detection, one candidate detection in a set of ambiguous detections and wherein each module is configured to apply a different selection technique. The system includes: one or more modules configured to select as the true detection, the candidate detection whose associated position is closer to a position indicated by other data and one or more modules configured to select as the true detection, the candidate detection with the highest probability of being true based on other sensor data.