├── 2.fig ├── Data Association Multi ├── AIS_test.m ├── Copy_of_maze.png ├── JPDAF_EKF_Update.m ├── JPDAF_UKF_Update.m ├── JPDAF_Update.m ├── Observation_Association.m ├── PDAF_Update.m ├── Track_InitConfDel.m ├── Track_Init_Del.m ├── buildHyp.m ├── buildNet.asv ├── buildNet.m ├── buildTree.m ├── data_assoc_test.m ├── gen_clusters.m ├── gen_obs_AIS.m ├── gen_obs_cluttered.m ├── gen_obs_cluttered_multi.m ├── getAssocProb.m ├── gridLegend.m ├── jpda_ekf_test.m ├── jpda_test.m ├── jpda_test2.m ├── jpda_test_pf.m ├── jpda_test_pf_search.m ├── jpda_test_pf_search.m~ ├── jpda_ukf_test.m ├── mahalDist.m └── maze.png ├── Data Association ├── Observation_Association.m ├── PDAF_UKF_Update.m ├── PDAF_Update.m ├── Track_Init_Del.m ├── data_assoc_test.m ├── data_assoc_test_pf.m ├── data_assoc_test_pf_comp.m ├── data_assoc_test_pf_comp2.m ├── data_assoc_test_pf_comp3.m ├── gen_obs_cluttered.m ├── gen_obs_cluttered_multi.m ├── gen_obs_cluttered_multi2.m ├── mahalDist.m ├── maze.png └── plot_gaussian_ellipsoid.m ├── Data_Gen ├── Data_Generator.m ├── Data_Generator_Demo.m ├── gen_obs ├── gen_obs.m ├── gen_obs.m~ ├── gen_obs_cluttered.m └── get_vel.m ├── EHM ├── buildEHMnet2.m ├── buildEHMnet_fast.m ├── buildEHMnet_trans.m ├── buildEHMnet_trans2.m └── drawNetObj.m ├── EHM_old ├── EHM_test.m ├── EHM_trans_test.m ├── JPDAF_EHM_Update.m ├── buildAssocTree.m ├── buildEHMnet.m ├── buildEHMnet2.m ├── buildHyp.m ├── feasible_events_enum_table.m ├── getAncestors.m ├── getAssocProb.m ├── get_p_D.m ├── get_p_U.m └── my_setdiff.m ├── EHM_test ├── buildEHMnet2.m ├── buildEHMnet2_flavio.m ├── buildEHMnet_trans.m ├── buildTree.m ├── drawNetObj.m ├── drawTreeObj.m └── feasible_events_enum_table.m ├── FastSet ├── fast_find_range_sorted.m ├── fast_find_range_sorted.mexw32 ├── fast_find_range_sorted.mexw64 ├── fast_frequency.m ├── fast_frequency.mexw32 ├── fast_frequency.mexw64 ├── fast_intersect_sorted.m ├── fast_intersect_sorted.mexw32 ├── fast_intersect_sorted.mexw64 ├── fast_ismember_sorted.m ├── fast_ismember_sorted.mexw32 ├── fast_ismember_sorted.mexw64 ├── fast_setdiff_sorted.m ├── fast_setdiff_sorted.mexw32 ├── fast_setdiff_sorted.mexw64 ├── fast_setxor_sorted.m ├── fast_setxor_sorted.mexw32 ├── fast_setxor_sorted.mexw64 ├── fast_union_sorted.m ├── fast_union_sorted.mexw32 ├── fast_union_sorted.mexw64 ├── fast_unique.m ├── fast_unique.mexw32 └── fast_unique.mexw64 ├── Figures └── CH-CHR │ ├── noise=0.15.fig │ ├── noise=0.3.fig │ └── noise=0.5.fig ├── GM_PHD_Filter_v110 ├── GM_PHD_Filter │ ├── CalculateOSPAMetric.m │ ├── Calculate_Jacobian_H.m │ ├── ConvertPlusMinusPi.m │ ├── GM_EKF_PHD_Construct_Update_Components.m │ ├── GM_EKF_PHD_Create_Birth.m │ ├── GM_EKF_PHD_Initialise_Jacobians.m │ ├── GM_EKF_PHD_Predict_Birth.m │ ├── GM_EKF_PHD_Predict_Existing.m │ ├── GM_EKF_PHD_Simulate_Initialise.m │ ├── GM_EKF_PHD_Simulate_Measurements.m │ ├── GM_EKF_PHD_Simulate_Plot.m │ ├── GM_EKF_PHD_Update.m │ ├── GM_PHD_Calculate_Performance_Metric.m │ ├── GM_PHD_Construct_Update_Components.m │ ├── GM_PHD_Create_Birth.m │ ├── GM_PHD_Estimate.m │ ├── GM_PHD_Filter.m │ ├── GM_PHD_Initialisation.m │ ├── GM_PHD_Predict_Birth.m │ ├── GM_PHD_Predict_Existing.m │ ├── GM_PHD_Prune.m │ ├── GM_PHD_Simulate_Initialise.m │ ├── GM_PHD_Simulate_Measurements.m │ ├── GM_PHD_Simulate_Plot.m │ ├── GM_PHD_Update.m │ ├── Hungarian.m │ ├── README.txt │ ├── ReleaseNotes.txt │ ├── Test_Jacobian_Calculation.m │ ├── error_ellipse.m │ ├── ospa_dist.m │ └── unifpdf_2d.m └── Older_Version_GM_PHD_Filter_Without_EKF │ └── GM_PHD_Filter_v105b │ ├── ConvertPlusMinusPi.m │ ├── GM_PHD_Calculate_Performance_Metric.m │ ├── GM_PHD_Construct_Update_Components.m │ ├── GM_PHD_Create_Birth.m │ ├── GM_PHD_Estimate.m │ ├── GM_PHD_Filter.m │ ├── GM_PHD_Initialisation.m │ ├── GM_PHD_Predict_Birth.m │ ├── GM_PHD_Predict_Existing.m │ ├── GM_PHD_Prune.m │ ├── GM_PHD_Simulate_Initialise.m │ ├── GM_PHD_Simulate_Measurements.m │ ├── GM_PHD_Simulate_Plot.m │ ├── GM_PHD_Update.m │ ├── Hungarian.m │ ├── README.txt.txt │ ├── ReleaseNotes.txt │ ├── error_ellipse.m │ ├── ospa_dist.m │ └── unifpdf_2d.m ├── JPDAF ├── JPDAF_EHM_Update.m ├── JPDAF_UKF_Update.m ├── KalmanFilter_new.m ├── Observation_Association.m ├── Simulation Ground truth samples │ ├── ground_truth.xlsx │ ├── ground_truth1.mat │ ├── ground_truth1.xlsx │ ├── ground_truth2.mat │ ├── ground_truth2.xlsx │ ├── ground_truth3.mat │ ├── ground_truth3.xlsx │ ├── ground_truth_multi.mat │ ├── ground_truth_multi.xlsx │ ├── ground_truth_new.mat │ └── ground_truth_new.xlsx ├── Track_InitConfDel.m ├── UKalmanFilter.m ├── buildEHMnet.m ├── buildEHMnet2.m ├── buildHyp.m ├── gen_obs_cluttered_multi.m ├── getAncestors.m ├── getAssocProb.m ├── jpda_test.m ├── mahalDist.m ├── maze.png └── plot_gaussian_ellipsoid.m ├── JPDAF_Class ├── JPDAF.m ├── Track_InitConfDel.m ├── Track_InitConfDel_MN.m ├── buildEHMnet_trans.m ├── gen_obs_cluttered_multi2.m ├── mahalDist.m ├── plot_gaussian_ellipsoid.m ├── test.m ├── test_n_of_m.m └── test_search.m ├── JPDAF_EHM.rar ├── JPDAF_EHM ├── Example datasets │ ├── ground_truth.xlsx │ ├── ground_truth1.mat │ ├── ground_truth1.xlsx │ ├── ground_truth2.mat │ ├── ground_truth2.xlsx │ ├── ground_truth3.mat │ ├── ground_truth3.xlsx │ ├── ground_truth_multi.mat │ ├── ground_truth_multi.xlsx │ ├── ground_truth_new.mat │ └── ground_truth_new.xlsx ├── JPDAF_EHM_PF_Update.m ├── JPDAF_EHM_PF_Update.m~ ├── JPDAF_EHM_Update.m ├── JPDAF_TO_EHM_PF_Update.m ├── KalmanFilter_new.m ├── Observation_Association.m ├── Track_InitConfDel.m ├── UKalmanFilter.m ├── buildEHMnet2.m ├── buildEHMnet_fast.m ├── feasible_events_enum_table.m ├── gen_obs_cluttered_multi2.m ├── gen_obs_cluttered_multi_old.m ├── jpda_test.m ├── mahalDist.m ├── maze.png └── plot_gaussian_ellipsoid.m ├── Li_SMC_PHD pack ├── CommonFiles │ ├── CompWeight_distance_bearing.m │ ├── GENRANDN.m │ ├── Hungarian.m │ ├── Particle_State_Prediction.m │ ├── Trajectory_turn_complicated.m │ ├── cluster.m │ ├── compute_pD.m │ ├── myphd.m │ ├── ospa_dist.m │ ├── plotTrajectory.m │ └── resampling.m ├── MEAP(test).mat ├── Trajectory_turn.mat └── main_MEAP.m ├── Li_i.m ├── MEAP(test).mat ├── NearestSymmetricPositiveDefinite ├── html │ ├── nearestSPD_demo.html │ ├── nearestSPD_demo.png │ └── nearestSPD_demo_01.png ├── nearestSPD.m └── nearestSPD_demo.m ├── PDAF_2D3D ├── GenerateTrajectories.m ├── Kalman_Filter_Init.m ├── Structure_PDAF_Association.m ├── Structure_PDAF_Init_Data.m ├── Structure_PDAF_Init_Parameters.m ├── Structure_PDAF_Init_Track.m ├── Structure_PDAF_Show.m ├── Structure_PDAF_Track_Separation.m ├── Structure_PDAF_Track_Start.m ├── Structure_PDAF_Track_Update.m ├── Structure_PDAF_Tracking_Demo.m └── gaussian_prob.m ├── ProjectX ├── Data Association │ └── Probabilistic Data Association Filters │ │ ├── JPDAFilterX_Class │ │ ├── JPDAFX.asv │ │ ├── JPDAFilterX.m │ │ ├── buildEHMnet_trans.m │ │ ├── gen_obs_cluttered_multi2.m │ │ ├── plot_gaussian_ellipsoid.m │ │ └── test_jpdaf.m │ │ └── PDAFilterX_Class │ │ ├── JPDAFX.asv │ │ ├── PDAFilterX.asv │ │ ├── PDAFilterX.m │ │ ├── buildEHMnet_trans.m │ │ ├── gen_obs_cluttered_multi2.m │ │ ├── plot_gaussian_ellipsoid.m │ │ └── test_pdaf.m ├── Filters │ ├── Kalman Filters │ │ ├── EKalmanFilterX │ │ │ ├── EKalmanFilterX_Class │ │ │ │ ├── EKalmanFilterX.m │ │ │ │ ├── test2_ekfx.m │ │ │ │ └── test_ekfx.m │ │ │ └── EKalmanFilterX_Functions │ │ │ │ ├── Jacobians │ │ │ │ └── jaccsd.m │ │ │ │ ├── Prediction │ │ │ │ ├── EKalmanFilterX_Predict.m │ │ │ │ ├── EKalmanFilterX_PredictObs.m │ │ │ │ └── EKalmanFilterX_PredictState.m │ │ │ │ ├── Smoothing │ │ │ │ └── EKalmanFilterX_SmoothRTS.m │ │ │ │ └── Update │ │ │ │ ├── EKalmanFilterX_Update.m │ │ │ │ └── EKalmanFilterX_UpdatePDA.m │ │ ├── KalmanFilterX │ │ │ ├── KalmanFilterX_Class │ │ │ │ ├── KalmanFilterX.m │ │ │ │ ├── KalmanFilterX2.m │ │ │ │ ├── test2_kfx.m │ │ │ │ └── test_kfx.m │ │ │ └── KalmanFilterX_Functions │ │ │ │ ├── Prediction │ │ │ │ ├── KalmanFilterX_Predict.m │ │ │ │ ├── KalmanFilterX_PredictObs.m │ │ │ │ └── KalmanFilterX_PredictState.m │ │ │ │ ├── Smoothing │ │ │ │ └── KalmanFilterX_SmoothRTS.m │ │ │ │ └── Update │ │ │ │ ├── KalmanFilterX_Update.m │ │ │ │ └── KalmanFilterX_UpdatePDA.m │ │ └── UKalmanFilterX │ │ │ ├── UKalmanFilterX_Class │ │ │ ├── UKalmanFilterX.m │ │ │ ├── nearestSPD.m │ │ │ ├── test2_ukfx.m │ │ │ └── test_ukfx.m │ │ │ └── UKalmanFilterX_Functions │ │ │ ├── Prediction │ │ │ └── UKalmanFilterX_Predict.m │ │ │ ├── Smoothing │ │ │ ├── EKalmanFilterX_SmoothRTS.asv │ │ │ └── UKalmanFilterX_SmoothRTS.m │ │ │ ├── UnscentedTranform │ │ │ ├── FormAugmentedSigmas.m │ │ │ ├── UnscentedTransform.m │ │ │ └── nearestSPD.m │ │ │ └── Update │ │ │ ├── UKalmanFilterX_Update.m │ │ │ └── UKalmanFilterX_UpdatePDA.m │ ├── Particle Filters │ │ ├── EParticleFilterX │ │ │ ├── EParticleFilterX_Class │ │ │ │ ├── EParticleFilterX.m │ │ │ │ └── weightedcov.m │ │ │ └── EParticleFilterX_Functions │ │ │ │ ├── Prediction │ │ │ │ └── EParticleFilterX_Predict.m │ │ │ │ ├── Resampling │ │ │ │ ├── ParticleFilterX_Resample.m │ │ │ │ └── ParticleFilterX_UpdateWeights.asv │ │ │ │ └── Update │ │ │ │ ├── ParticleFilterX_Update.asv │ │ │ │ ├── ParticleFilterX_Update.m │ │ │ │ ├── ParticleFilterX_UpdatePDA.asv │ │ │ │ ├── ParticleFilterX_UpdatePDA.m │ │ │ │ ├── ParticleFilterX_UpdateWeights.asv │ │ │ │ └── ParticleFilterX_UpdateWeights.m │ │ ├── ParticleFilterX │ │ │ ├── ParticleFilterX_Class │ │ │ │ ├── ParticleFilterX.asv │ │ │ │ ├── ParticleFilterX.m │ │ │ │ └── test_bpfx.m │ │ │ └── ParticleFilterX_Functions │ │ │ │ ├── Prediction │ │ │ │ └── ParticleFilterX_Predict.m │ │ │ │ ├── Resampling │ │ │ │ └── ParticleFilterX_Resample.m │ │ │ │ └── Update │ │ │ │ ├── ParticleFilterX_Update.m │ │ │ │ ├── ParticleFilterX_UpdatePDA.m │ │ │ │ └── ParticleFilterX_UpdateWeights.m │ │ └── UParticleFilterX_Class │ │ │ ├── UParticleFilterX.m │ │ │ └── weightedcov.m │ └── Probability Hypothesis Density Filters │ │ └── SMC_PHDFilterX_Class │ │ ├── SMC_PHDFilterX.m │ │ ├── SMC_PHDX.asv │ │ ├── gen_obs_cluttered_multi3.m │ │ ├── kde2d.m │ │ └── phd_test.m ├── Models │ ├── Dynamic Models │ │ ├── ConstantHeadingModelX_Class │ │ │ ├── ConstantHeadingModel.asv │ │ │ ├── ConstantHeadingModel2X.m │ │ │ ├── ConstantHeadingModelX.m │ │ │ └── testCH.m │ │ ├── ConstantVelocityModelX_Class │ │ │ ├── ConstantVelocityModelX.m │ │ │ └── testCV.m │ │ ├── DynamicModelX_ClassTemplate │ │ │ ├── DynamicModelX.m │ │ │ └── testDynModelTemp.m │ │ └── GenericDynamicModelX_Class │ │ │ └── GenericDynamicModelX.m │ └── Observation Models │ │ ├── GenericObservationModelX_Class │ │ └── GenericObservationModelX.m │ │ ├── LinearGaussianObsModel_Class │ │ ├── PositionalObsModelX.m │ │ └── testPOM.m │ │ └── ObservationModelX_ClassTemplate │ │ ├── ObservationModelX.m │ │ └── testDynModelTemp.m ├── Track Management │ ├── ExistProbPHDSearch │ │ └── ExistProbPHDSearchX.m │ ├── LogLikRatio_TM │ │ ├── LogLikRatio_TM.asv │ │ └── LogLikRatio_TM.m │ └── MoutOfN_TM │ │ ├── MoutOfN_TM.asv │ │ └── MoutOfN_TM.m └── Workspace │ ├── EM │ └── EM_test.m │ ├── MTT │ ├── LogLik │ │ ├── test_lpr.asv │ │ └── test_lpr.m │ ├── MoutOfN │ │ ├── test_m_of_n.asv │ │ └── test_m_of_n.m │ └── PHD search │ │ ├── radar_test_search.m │ │ ├── test_search.asv │ │ └── test_search.m │ └── STT │ └── test_all.m ├── RMSE_σ=0.6.fig ├── RMSE_σ=1.fig ├── Radar Processing ├── Track_InitConfDelRadar.m ├── extract_data.m ├── lpr_initConfDel.m ├── phd_search.m ├── radar.mat └── restrict_data.m ├── Results └── EKFvUKFvPF │ └── 26-01-2017 │ └── OptimalCCVonly_r=1.mat ├── SMC_PHD ├── SMC_PHD.m ├── gen_obs_cluttered_multi3.m ├── kde2d.m └── phd_test.m ├── Task1_3.m ├── coin ├── coinflip0.m ├── coinflip1.m └── coinflip2.m ├── compute_ospa.m ├── config.J_k2 ├── configuremingw.p ├── datasets ├── 2_crossing_targets.mat ├── 3_roaming_targets.mat ├── AIS.mat ├── ground_truth.xlsx ├── ground_truth1.xlsx ├── ground_truth2.xlsx ├── ground_truth3.xlsx ├── ground_truth_ch1.xlsx ├── ground_truth_ch1[1].xlsx ├── ground_truth_ch2.xlsx ├── ground_truth_ch3.xlsx ├── ground_truth_multi.xlsx ├── ground_truth_new.xlsx └── maze.png ├── ecef.py ├── ecef.pyc ├── ell2xyz.m ├── expectedLi.m ├── expectedLi2.m ├── expectedLi3.m ├── fastAuction_v2.6 ├── auctionAlgorithmSparseMex.cpp ├── sparseAssignmentProblemAuctionAlgorithm.m └── yprime.c ├── fit_ellipse.m ├── flip.m~ ├── geodetic ├── Contents.m ├── DirInv.m ├── DirProb.m ├── Dist3D.m ├── InvProb.m ├── PltNetEl.m ├── ToUTM.m ├── cal2jd.m ├── cart2euler.m ├── cct2clg.m ├── clg2cct.m ├── ct2lg.m ├── dates.m ├── deg2rad.m ├── dg2lg.m ├── direct.m ├── dms2deg.m ├── dms2rad.m ├── doy2jd.m ├── ell2utm.m ├── ell2xyz.m ├── ellradii.m ├── errell2.m ├── errell3.m ├── euler2cart.m ├── findfixed.m ├── gps2jd.m ├── inverse.m ├── jd2cal.m ├── jd2dow.m ├── jd2doy.m ├── jd2gps.m ├── jd2mjd.m ├── jd2yr.m ├── jd2yr2.m ├── lg2ct.m ├── lg2dg.m ├── mjd2jd.m ├── plterrel.m ├── pltmap.m ├── pltnet.m ├── rad2deg.m ├── rad2dms.m ├── rad2sec.m ├── refell.m ├── rotct2lg.m ├── rotlg2ct.m ├── sec2rad.m ├── simil.m ├── sph2xyz.m ├── test_in.m ├── utm2ell.m ├── xyz2ell.m ├── xyz2ell2.m ├── xyz2ell3.m ├── xyz2sph.m └── yr2jd.m ├── geolife_preproc.py ├── geolife_preproc.txt ├── jdbcConfig.mat ├── kalmanf ├── EKFvUKFvPF_CH.m ├── EKFvUKFvPF_CH.m~ ├── EKalmanFilter.m ├── KFvEKFvPF_CH.m ├── KalmanFilter.m ├── KalmanFilter_new.m ├── KalmanFilter_old.m ├── PF_CH_MTT.m ├── UKalmanFilter.m ├── ekf.m ├── error_ellipse.m ├── kalmanf.m ├── maze.png ├── nearestSPD.m ├── pendulum_sim.m ├── pf_geo_test.m ├── sigmas.m ├── test_ekf.m ├── test_ekf_3.m ├── test_ekf_vs_ukf.m ├── test_ekf_vs_ukf.m~ ├── test_ekf_vs_ukf_1d.m ├── test_ekf_vs_ukf_ros.m ├── test_ekf_vs_ukf_ros.m~ ├── test_ekf_vs_ukf_vs_pf_ros.m ├── test_kf.m ├── test_kf_new.m ├── test_ukf.m ├── test_ukf_original.m ├── ukf.m ├── ukf_fl.m └── ukf_new.m ├── lla2ecef.m ├── matlab.mat ├── matlabx2.mat ├── maxmin.m ├── maze.png ├── needle ├── needle.pptx ├── needlesTandem.m ├── throwNeedles.m ├── throwNeedles.m~ └── throwNeedles2.m ├── particlef ├── ParticleFilter.m ├── ParticleFilterMin.m ├── ParticleFilterMin2.m ├── ParticleFilterMin2.m~ ├── ParticleFilter_new.m ├── ParticleFilter_old.m ├── example.m ├── particle_filter.m ├── test_pf.m ├── test_pf_new.m ├── test_pfilter.m ├── test_pfilter_ros.m ├── test_pfilter_ros_ch.m ├── test_pfilter_ros_chVScv.m ├── untitled.fig └── weightedcov.m ├── pollutant.m ├── refell.m ├── releasecodes ├── _common │ ├── BFMSpathwrap.m │ ├── Hungarian.m │ ├── assignmentoptimal.c │ ├── assignmentoptimal.mexa64 │ ├── assignmentoptimal.mexw32 │ ├── assignmentoptimal.mexw64 │ ├── ekf_predict_multiple.m │ ├── ekf_update_multiple.m │ ├── esf.m │ ├── gate_meas_ekf.m │ ├── gate_meas_gms.m │ ├── gate_meas_ukf.m │ ├── gaus_cap.m │ ├── gaus_cap_1.m │ ├── gaus_cap_3.m │ ├── gaus_merge.m │ ├── gaus_merge_1.m │ ├── gaus_prune.m │ ├── gaus_prune_1.m │ ├── gaus_prune_3.m │ ├── gen_gms.m │ ├── hist2d.m │ ├── histnd.m │ ├── kShortestPath_any.m │ ├── kalman_predict_multiple.m │ ├── kalman_update_multiple.m │ ├── kshortestwrap_pred.m │ ├── logsumexp.m │ ├── mbestwrap_updt_custom.m │ ├── murty_custom.m │ ├── ospa_dist.m │ ├── our_kmeans.m │ ├── resample.m │ ├── ukf_predict_multiple.m │ ├── ukf_update_multiple.m │ └── ut.m ├── bernoulli │ ├── ekf │ │ ├── demo.m │ │ ├── ekf_predict_mat.m │ │ ├── ekf_update_mat.m │ │ ├── gen_meas.m │ │ ├── gen_model.m │ │ ├── gen_newstate_fn.m │ │ ├── gen_observation_fn.m │ │ ├── gen_truth.m │ │ ├── plot_results.m │ │ └── run_filter.m │ ├── gms │ │ ├── demo.m │ │ ├── gen_meas.m │ │ ├── gen_model.m │ │ ├── gen_newstate_fn.m │ │ ├── gen_observation_fn.m │ │ ├── gen_truth.m │ │ ├── plot_results.m │ │ └── run_filter.m │ ├── smc │ │ ├── compute_likelihood.m │ │ ├── compute_pD.m │ │ ├── compute_pS.m │ │ ├── demo.m │ │ ├── gen_meas.m │ │ ├── gen_model.m │ │ ├── gen_newstate_fn.m │ │ ├── gen_observation_fn.m │ │ ├── gen_truth.m │ │ ├── plot_results.m │ │ └── run_filter.m │ └── ukf │ │ ├── demo.m │ │ ├── gen_meas.m │ │ ├── gen_model.m │ │ ├── gen_newstate_fn.m │ │ ├── gen_observation_fn.m │ │ ├── gen_truth.m │ │ ├── plot_results.m │ │ └── run_filter.m ├── cbmember │ ├── ekf │ │ ├── demo.m │ │ ├── ekf_predict_mat.m │ │ ├── ekf_update_mat.m │ │ ├── gen_meas.m │ │ ├── gen_model.m │ │ ├── gen_newstate_fn.m │ │ ├── gen_observation_fn.m │ │ ├── gen_truth.m │ │ ├── plot_results.m │ │ └── run_filter.m │ ├── gms │ │ ├── demo.m │ │ ├── gen_meas.m │ │ ├── gen_model.m │ │ ├── gen_newstate_fn.m │ │ ├── gen_observation_fn.m │ │ ├── gen_truth.m │ │ ├── plot_results.m │ │ └── run_filter.m │ ├── smc │ │ ├── compute_likelihood.m │ │ ├── compute_pD.m │ │ ├── compute_pS.m │ │ ├── demo.m │ │ ├── gen_meas.m │ │ ├── gen_model.m │ │ ├── gen_newstate_fn.m │ │ ├── gen_observation_fn.m │ │ ├── gen_truth.m │ │ ├── plot_results.m │ │ └── run_filter.m │ └── ukf │ │ ├── demo.m │ │ ├── gen_meas.m │ │ ├── gen_model.m │ │ ├── gen_newstate_fn.m │ │ ├── gen_observation_fn.m │ │ ├── gen_truth.m │ │ ├── plot_results.m │ │ └── run_filter.m ├── cphd │ ├── ekf │ │ ├── demo.m │ │ ├── ekf_predict_mat.m │ │ ├── ekf_update_mat.m │ │ ├── gen_meas.m │ │ ├── gen_model.m │ │ ├── gen_newstate_fn.m │ │ ├── gen_observation_fn.m │ │ ├── gen_truth.m │ │ ├── plot_results.m │ │ └── run_filter.m │ ├── gms │ │ ├── demo.m │ │ ├── gen_meas.m │ │ ├── gen_model.m │ │ ├── gen_newstate_fn.m │ │ ├── gen_observation_fn.m │ │ ├── gen_truth.m │ │ ├── plot_results.m │ │ └── run_filter.m │ ├── smc │ │ ├── compute_likelihood.m │ │ ├── compute_pD.m │ │ ├── compute_pS.m │ │ ├── demo.m │ │ ├── gen_meas.m │ │ ├── gen_model.m │ │ ├── gen_newstate_fn.m │ │ ├── gen_observation_fn.m │ │ ├── gen_truth.m │ │ ├── plot_results.m │ │ └── run_filter.m │ └── ukf │ │ ├── demo.m │ │ ├── gen_meas.m │ │ ├── gen_model.m │ │ ├── gen_newstate_fn.m │ │ ├── gen_observation_fn.m │ │ ├── gen_truth.m │ │ ├── plot_results.m │ │ └── run_filter.m ├── glmb │ ├── ekf │ │ ├── demo.m │ │ ├── ekf_predict_mat.m │ │ ├── ekf_update_mat.m │ │ ├── gen_meas.m │ │ ├── gen_model.m │ │ ├── gen_newstate_fn.m │ │ ├── gen_observation_fn.m │ │ ├── gen_truth.m │ │ ├── plot_results.m │ │ └── run_filter.m │ ├── gms │ │ ├── demo.m │ │ ├── gen_meas.m │ │ ├── gen_model.m │ │ ├── gen_newstate_fn.m │ │ ├── gen_observation_fn.m │ │ ├── gen_truth.m │ │ ├── plot_results.m │ │ └── run_filter.m │ ├── smc │ │ ├── compute_likelihood.m │ │ ├── compute_pD.m │ │ ├── compute_pS.m │ │ ├── demo.m │ │ ├── gen_meas.m │ │ ├── gen_model.m │ │ ├── gen_newstate_fn.m │ │ ├── gen_observation_fn.m │ │ ├── gen_truth.m │ │ ├── plot_results.m │ │ └── run_filter.m │ └── ukf │ │ ├── demo.m │ │ ├── gen_meas.m │ │ ├── gen_model.m │ │ ├── gen_newstate_fn.m │ │ ├── gen_observation_fn.m │ │ ├── gen_truth.m │ │ ├── plot_results.m │ │ └── run_filter.m ├── lmb │ ├── ekf │ │ ├── demo.m │ │ ├── ekf_predict_mat.m │ │ ├── ekf_update_mat.m │ │ ├── gen_meas.m │ │ ├── gen_model.m │ │ ├── gen_newstate_fn.m │ │ ├── gen_observation_fn.m │ │ ├── gen_truth.m │ │ ├── plot_results.m │ │ └── run_filter.m │ ├── gms │ │ ├── demo.m │ │ ├── gen_meas.m │ │ ├── gen_model.m │ │ ├── gen_newstate_fn.m │ │ ├── gen_observation_fn.m │ │ ├── gen_truth.m │ │ ├── plot_results.m │ │ └── run_filter.m │ ├── smc │ │ ├── compute_likelihood.m │ │ ├── compute_pD.m │ │ ├── compute_pS.m │ │ ├── demo.m │ │ ├── gen_meas.m │ │ ├── gen_model.m │ │ ├── gen_newstate_fn.m │ │ ├── gen_observation_fn.m │ │ ├── gen_truth.m │ │ ├── plot_results.m │ │ └── run_filter.m │ └── ukf │ │ ├── demo.m │ │ ├── gen_meas.m │ │ ├── gen_model.m │ │ ├── gen_newstate_fn.m │ │ ├── gen_observation_fn.m │ │ ├── gen_truth.m │ │ ├── plot_results.m │ │ └── run_filter.m ├── phd │ ├── ekf │ │ ├── demo.m │ │ ├── ekf_predict_mat.m │ │ ├── ekf_update_mat.m │ │ ├── gen_meas.m │ │ ├── gen_model.m │ │ ├── gen_newstate_fn.m │ │ ├── gen_observation_fn.m │ │ ├── gen_truth.m │ │ ├── plot_results.m │ │ └── run_filter.m │ ├── gms │ │ ├── demo.m │ │ ├── gen_meas.m │ │ ├── gen_model.m │ │ ├── gen_newstate_fn.m │ │ ├── gen_observation_fn.m │ │ ├── gen_truth.m │ │ ├── plot_results.m │ │ └── run_filter.m │ ├── smc │ │ ├── compute_likelihood.m │ │ ├── compute_pD.m │ │ ├── compute_pS.m │ │ ├── demo.m │ │ ├── gen_meas.m │ │ ├── gen_model.m │ │ ├── gen_newstate_fn.m │ │ ├── gen_observation_fn.m │ │ ├── gen_truth.m │ │ ├── plot_results.m │ │ └── run_filter.m │ └── ukf │ │ ├── demo.m │ │ ├── gen_meas.m │ │ ├── gen_model.m │ │ ├── gen_newstate_fn.m │ │ ├── gen_observation_fn.m │ │ ├── gen_truth.m │ │ ├── plot_results.m │ │ └── run_filter.m ├── readme.txt ├── robust │ ├── jointcbmember │ │ └── smc │ │ │ ├── compute_likelihood.m │ │ │ ├── compute_likelihood_clt.m │ │ │ ├── compute_likelihood_tg.m │ │ │ ├── compute_pD.m │ │ │ ├── compute_pS.m │ │ │ ├── compute_pS_clt.m │ │ │ ├── compute_pS_tg.m │ │ │ ├── demo.m │ │ │ ├── gen_meas.m │ │ │ ├── gen_model.m │ │ │ ├── gen_newstate_clt.m │ │ │ ├── gen_newstate_fn.m │ │ │ ├── gen_newstate_fn_clt.m │ │ │ ├── gen_newstate_fn_tg.m │ │ │ ├── gen_newstate_tg.m │ │ │ ├── gen_observation_clt.m │ │ │ ├── gen_observation_fn.m │ │ │ ├── gen_observation_tgt.m │ │ │ ├── gen_truth.m │ │ │ ├── plot_results.m │ │ │ └── run_filter.m │ ├── jointcphd │ │ ├── ekf │ │ │ ├── demo.m │ │ │ ├── ekf_predict_mat.m │ │ │ ├── ekf_update_mat.m │ │ │ ├── gen_meas.m │ │ │ ├── gen_model.m │ │ │ ├── gen_newstate_fn.m │ │ │ ├── gen_observation_fn.m │ │ │ ├── gen_truth.m │ │ │ ├── plot_results.m │ │ │ └── run_filter.m │ │ ├── gms │ │ │ ├── demo.m │ │ │ ├── gen_meas.m │ │ │ ├── gen_model.m │ │ │ ├── gen_newstate_fn.m │ │ │ ├── gen_observation_fn.m │ │ │ ├── gen_truth.m │ │ │ ├── plot_results.m │ │ │ └── run_filter.m │ │ ├── smc │ │ │ ├── compute_likelihood_clt.m │ │ │ ├── compute_likelihood_tg.m │ │ │ ├── compute_pD.m │ │ │ ├── compute_pS_clt.m │ │ │ ├── compute_pS_tg.m │ │ │ ├── demo.m │ │ │ ├── gen_meas.m │ │ │ ├── gen_model.m │ │ │ ├── gen_newstate_clt.m │ │ │ ├── gen_newstate_fn.m │ │ │ ├── gen_newstate_fn_clt.m │ │ │ ├── gen_newstate_fn_tg.m │ │ │ ├── gen_newstate_tg.m │ │ │ ├── gen_observation_fn.m │ │ │ ├── gen_truth.m │ │ │ ├── plot_results.m │ │ │ └── run_filter.m │ │ └── ukf │ │ │ ├── demo.m │ │ │ ├── gen_meas.m │ │ │ ├── gen_model.m │ │ │ ├── gen_newstate_fn.m │ │ │ ├── gen_observation_fn.m │ │ │ ├── gen_truth.m │ │ │ ├── plot_results.m │ │ │ └── run_filter.m │ ├── lcphd │ │ ├── ekf │ │ │ ├── demo.m │ │ │ ├── ekf_predict_mat.m │ │ │ ├── ekf_update_mat.m │ │ │ ├── gen_meas.m │ │ │ ├── gen_model.m │ │ │ ├── gen_newstate_fn.m │ │ │ ├── gen_observation_fn.m │ │ │ ├── gen_truth.m │ │ │ ├── plot_results.m │ │ │ └── run_filter.m │ │ ├── gms │ │ │ ├── demo.m │ │ │ ├── gen_meas.m │ │ │ ├── gen_model.m │ │ │ ├── gen_newstate_fn.m │ │ │ ├── gen_observation_fn.m │ │ │ ├── gen_truth.m │ │ │ ├── plot_results.m │ │ │ └── run_filter.m │ │ ├── smc │ │ │ ├── compute_likelihood.m │ │ │ ├── compute_pD.m │ │ │ ├── compute_pS.m │ │ │ ├── demo.m │ │ │ ├── gen_meas.m │ │ │ ├── gen_model.m │ │ │ ├── gen_newstate_fn.m │ │ │ ├── gen_observation_fn.m │ │ │ ├── gen_truth.m │ │ │ ├── plot_results.m │ │ │ └── run_filter.m │ │ └── ukf │ │ │ ├── demo.m │ │ │ ├── gen_meas.m │ │ │ ├── gen_model.m │ │ │ ├── gen_newstate_fn.m │ │ │ ├── gen_observation_fn.m │ │ │ ├── gen_truth.m │ │ │ ├── plot_results.m │ │ │ └── run_filter.m │ └── pdcphd │ │ ├── ekf │ │ ├── demo.m │ │ ├── ekf_predict_mat.m │ │ ├── ekf_update_mat.m │ │ ├── gen_meas.m │ │ ├── gen_model.m │ │ ├── gen_newstate_fn.m │ │ ├── gen_observation_fn.m │ │ ├── gen_truth.m │ │ ├── plot_results.m │ │ └── run_filter.m │ │ ├── gms │ │ ├── demo.m │ │ ├── gen_meas.m │ │ ├── gen_model.m │ │ ├── gen_newstate_fn.m │ │ ├── gen_observation_fn.m │ │ ├── gen_truth.m │ │ ├── plot_results.m │ │ └── run_filter.m │ │ ├── smc │ │ ├── compute_likelihood.m │ │ ├── compute_likelihood_tg.m │ │ ├── compute_pD.m │ │ ├── compute_pS.m │ │ ├── demo.m │ │ ├── gen_meas.m │ │ ├── gen_model.m │ │ ├── gen_newstate_fn.m │ │ ├── gen_newstate_fn_tg.m │ │ ├── gen_newstate_tg.m │ │ ├── gen_observation_fn.m │ │ ├── gen_truth.m │ │ ├── plot_results.m │ │ └── run_filter.m │ │ └── ukf │ │ ├── demo.m │ │ ├── gen_meas.m │ │ ├── gen_model.m │ │ ├── gen_newstate_fn.m │ │ ├── gen_observation_fn.m │ │ ├── gen_truth.m │ │ ├── plot_results.m │ │ └── run_filter.m └── singletarget │ ├── ekf │ ├── demo.m │ ├── ekf_predict_mat.m │ ├── ekf_update_mat.m │ ├── gen_meas.m │ ├── gen_model.m │ ├── gen_newstate_fn.m │ ├── gen_observation_fn.m │ ├── gen_truth.m │ ├── plot_results.m │ └── run_filter.m │ ├── gms │ ├── demo.m │ ├── gen_meas.m │ ├── gen_model.m │ ├── gen_newstate_fn.m │ ├── gen_observation_fn.m │ ├── gen_truth.m │ ├── plot_results.m │ └── run_filter.m │ ├── smc │ ├── compute_likelihood.m │ ├── compute_pD.m │ ├── demo.m │ ├── gen_meas.m │ ├── gen_model.m │ ├── gen_newstate_fn.m │ ├── gen_observation_fn.m │ ├── gen_truth.m │ ├── plot_results.m │ └── run_filter.m │ └── ukf │ ├── demo.m │ ├── gen_meas.m │ ├── gen_model.m │ ├── gen_newstate_fn.m │ ├── gen_observation_fn.m │ ├── gen_truth.m │ ├── plot_results.m │ └── run_filter.m ├── results1.mat ├── results1x2.mat ├── results2.mat ├── results3.mat ├── sample_mvgm ├── configuremingw.p ├── 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