This paper proposed a scheme for finding an optimal adaptive data association for multi-target between measurements and tracks. First, we assume the relationships between measurements as Mrkov Random Field. Also assumed a priori of the associations as a Gibbs distribution. Based on these assumptions, it was possible to reduce the MAP estimate of the association matrix to the energy minimization problem. After then, we defined an energy function over the measurement space, that may incorporate most of the important natural constraints. Through the experiments, we analyzed and compared this algorithm with other representative algorithms. The result is that it is stable, robust, fast enough for real timecomputation, as well as more accurate than other methods.