A vehicle, system and method for tracking an object with respect to the vehicle. A radar system receives a first plurality of detections from an object during a first time frame and a second plurality of detection during a second time frame. A region covariance matrix is calculated for a cluster formed from the first plurality of detections. An updated covariance matrix for the cluster is calculated from the region covariance matrix of the first time frame. A region covariance matrix is calculated for each of a plurality of clusters formed from the second plurality of detections. A metric is determined between the updated covariance matrix and each region covariance matrix from the second time frame. The object is tracked by associating the region covariance matrix from the second time frame having the smallest metric to the region covariance matrix of the first time frame.
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