1. A method in a computing device for matching a new constellation of newly detected objects to a previous constellation of previously detected objects, the method comprising: for each of a plurality of pairs that includes a previously detected object and a newly detected object, generating a constellation offset based on a distance between the previously detected object and the newly detected object of the pair; and generating a constellation matching score indicating a degree to which the new constellation matches the previous constellation assuming the constellation offset between the new constellation and the previous constellation and factoring in a probabilistic uncertainty model for the locations of the previously detected objects and the newly detected objects; identifying the constellation matching score indicating the best match between the new constellation and the previous constellation; and indicating that the constellation offset resulting in the identified constellation matching score as a best constellation offset for matching the new constellation with the previous constellation.