Object tracking and avoidance is a vital functionality in autonomous vehicles. Object tracking techniques must be both fast and accurate for this safety-critical application. Neither of the two factors mentioned can be compromised in this safety critical application. Much of the work done in this field uses the point clouds themselves for object matching. This ensures greater accuracy at the expense of run time. This paper posits that such a fine level of registration is not required for comparable levels of accuracy. The object tracking technique proposed uses a coarse technique for object matching via voxels which reduces run time without compromising on accuracy. It also allows for evaluation of quality of matches. © 2020 IEEE.