← Belief-Propagation MTT

Association experiments

Weights BP messages Hypotheses

Predicted tracks and detections

Drag a point to change the evidence

Predicted track× DetectionDashed ellipse: 99% gate

Messages on candidate pairs

Track association probabilities

Show exact reference

Probability of each compatible assignment

Green = retained

Full-sum marginals

Exact for these weights

Retained-hypothesis marginals

Renormalized after truncation

Scene

Detection probability 0.90 Clutter intensity Apply 99% gate

Assignment weights

Inspect one candidate pair

\mu_{i\to j}

—

\nu_{j\to i}

1.000

Current BP–exact gap (pp)

Assignments retained 5

Posterior probability retained

Maximum marginal change (pp)