1. A method for joint kinematic and feature tracking comprising acts of: receiving kinematic measurements and feature/class measurements regarding an object from at least one sensor; performing a probabilistic argumentation operation on the feature/class measurements using information from a rule-based knowledge base and a track file regarding the object to generate feature track likelihood scores that provide information regarding likely tracks for the object; generating kinematic track likelihood scores based on the kinematic measurements and the track file regarding the object; generating joint track likelihood scores based on the feature track likelihood scores and the kinematic track likelihood scores; using the joint track likelihood scores to generate a multi-frame track measurement association to determine a most likely track for the object; and updating the track file with the most likely track for the object; whereby the method tracks an object and continually updates the track file for the object, so that the most likely trajectory of the object is obtained.