1. A method comprising: receiving, by a processor and from a detection and ranging system, reflectivity data sampled for a volume of space; generating, by the processor, a feature map based on the reflectivity data, wherein the feature map is a representation of the volume of space that indicates the spatial extent of objects to be tracked; generating, by the processor, a first segmented feature map based on the feature map; translating, by the processor, the first segmented feature map and a second segmented feature map to a common frame of reference; comparing, by the processor, the first segmented feature map to the second segmented feature map; and creating, by the processor, one or more track hypotheses based on the comparison of the first segmented feature map and the second segmented feature map.