A dynamic programming (DP) technique has been developed for the detection of subpixel-sized, low-SNR targets observed by mosaic imaging sensors. The primary advantages of DP are its sensitivity to weak targets along with its robustness to target maneuvers and sensor instabilities. Such enhancements are achieved by performing target data association and detection in a single optimization procedure. To the extent that the target motion and noise behavior can be accurately modeled, the DP algorithm is shown to be optimal for this task. A prototype IR tracking system based on the DP approach was developed and tested for a step-staring IR camera application. Performance analysis indicates a sensitivity improvement of several dB over conventional sequential detection tracking approaches.