Method of tracking moveable objects (typically tagged objects that are moved by actors e.g. people, vehicles) by combining and analyzing data obtained from multiple types of sensors, such as video cameras, RFID tag readers, GPS sensors, and WiFi transceivers. Objects may be tagged by RFID tags, NFC tags, bar codes, or even tagged by visual appearance. The system operates in near real-time, and compensates for errors in sensor readings and missing sensor data by modeling object and actor movement according to a plurality of possible paths, weighting data from some sensors higher than others according to estimates of sensor accuracy, and weighing the probability of certain paths according to various other rules and penalty cost parameters. The system can maintain a comprehensive database which can be queried as to which actors associate with which objects, and vice versa. Other data pertaining to object location and association can also be obtained.