1 Introduction
Traditional tracking algorithms are tailored to the problem of tracking a—possibly unknown—number of targets with preserved target identity. That is, the interest is not only in estimating the states of each target, but also to keep track of the identities of the targets over time. Examples of such algorithms are the Probabilistic Data Association (PDA) and Joint PDA (JPDA) filters [1], [2], the Multiple Hypothesis Tracking (MHT) algorithm [3], [4], [5], [6], and particle filters [7], [8].