Systems and methods for detecting objects from a moving platform are provided. The method includes receiving, from a camera coupled to the moving platform, first and second image frames, wherein the second image frame is subsequent in time to the first image frame. Within the first image frame, a first target is defined characterizing the location of an object detected in the first image frame. A first score associated with the first target and a second score associated with the second target are determined, and a first predicted target is determined based on a tracking process applied to the first target. A third score associated with the first predicted target is determined. The method determines a merged target corresponding to the second target when the second score is greater than the third score and a proximity measure between the second target and the first predicted target is above a threshold.