In an embodiment, a method of tracking includes predicting a predicted state, in a global coordinate space, of an object based on a state of the object; determining in local coordinates the predicted state; determining a plurality of measurements of the object, in the local coordinates, with first and/or second radar sensors; determining a matching of the predicted state and the plurality of measurements, in the local coordinates, for a matching result; and updating the state of the object based on the matching result. The first and second sensors are arranged along perpendicular lines which intersect at the origin of the global coordinate space.