receiving, by at least one processor, a first track comprising a location and footprint of a first object;

receiving, by the at least one processor, a second track comprising a location and footprint of a second object;

determining, by the a least one processor, an azimuth distance between the first track and the second track based on an azimuth extension error that corresponds to azimuth spread between the first track and the second track with respect to a host vehicle, wherein the azimuth spread is based on a sum of an azimuth range of the first track and an azimuth range of the second track;

determining, by the at least one processor, a position distance between the first track and the second track based on a compactness error that corresponds to footprint difference between the first track and the second track; and

establishing, by the at least one processor and based on the azimuth distance that is based on the azimuth extension error and the position distance that is based on the compactness error, the first object and the second object as common objects; and

performing, with an Advanced Driver Assist System (ADAS), a vehicle function, including at least one of accelerating, steering, or braking the host vehicle, in response to the first object and the second object being common objects.