Candidate Track Sets

Now consider a set of K tracks. Assume tracks can not share detections, and again assume missed detections are possible. It can be shown that the number of candidate track sets is ³

$$I_n^{'} = \left( \sum_{j=0}^{K} \left( \begin{array}{c} {J_... ...ay}{c} {J_m} \\ j \end{array} \right)}{(K-j)!} \right) \right)$$ (6)

Let the i^th candidate K-track set be represented as

$$\mbox{\boldmath$\tau$ }_n^i = \{ \mbox{\boldmath$\theta$ }_n^... ... \mbox{\boldmath$\theta$ }_n^{l_K (i)} \} \; \; \; , \nonumber$$

where the superscript l_k (i) denotes the k^th track of the i^thtrack set. ${\cal Z} ( \mbox{\boldmath$\tau$ }_n^i )$ will be used to denote the measurement data associated with the i^th K-track set.