Algorithm 3 Single Robot Object Tracking Algorithm.
Require: Input object list with nin objects.
Require: Local object list with nloc objects.
Ensure: nin > 0 ∨ nloc > 0.
1:	for i ∈ Lin do
2:	for j ∈ Lloc do
3:	Δt = tin − tdet(j).
4:	Temporal Kalman filter prediction with object j and Δt.
5:	Mahalanobis distance according to Equation (10)
6:	Possible pairs distance matrix PD[i, j] = DM(i, j).
7:	end for
8:	end for
9:	Create selected pairs list.
10:	while Size(Selected Pairs)< min(nin, nloc) do
11:	Select minimum valid value of PD
12:	if PD[i, j] < DM∣max then
13:	Include pair (i, j) in selected pairs.
14:	Mark row i and column j with invalid values.
15:	else
16:	Stop selecting pairs.
17:	end if
18:	end while
19:	KF iteration for objects in selected pairs.
20:	Eliminate objects from Lloc. ▹ Not fulfilling elimination conditions
21:	Add new objects not paired to Lloc.
22:	Filter reduction to detect duplicates.
23:	Update objects scoring.