Acronyms
DATMO	Detecting and Tracking of Moving Objects
LRF	Laser RangeFinder
AGV	Autonomous Guided Vehicle
MHT	Multiple-Hypotheses Tracking
ACT	Automated Container Terminal
FLIRT	Fast Laser Interest Region Transform
SIFT	Scale-invariant feature transform
SURF	Speeded-Up Robust Features
MDP	Markov Decision Process
KF	Kalman Filter
JPDAF	Joint Probabilistic Data Association Filtering
MH-KF	Multiple-Hypothesis Tracking based on Kalman Filters
PDBS	Point-Distance-Based Segmentation
PCA	Principal Component Analysis
FOV	Field of View
Variables
$S{c}_t$	Laser Scan in time t
$r_i$	Range measurement
${\alpha }_i$	Bearing angle
$\mathcal{S}$	Set of point on a scan
k	Number of scans buffered
${·}^{veh}$	Frame referred to the vehicle
${\ell }_1;{\ell }_2$	Absolute/Euclidean Distance
$T{h}_{(·)}$	Threshold
$ob{j}_j$	Observed Object
$\mathcal{J}$	Set of segmented objects
$re{f}_{act}$	Current reference frame of an object
$wth;lth$	Object’s width/length
$\phi$	Object’s orientation regarding the longitudinal axis
$np$	Number of laser points in an object
$\mathcal{L}$	Set of extracted lines in an object
$p{t}_{(·)}$	Laser Point in Euclidean coordinates
$ϵ$	Regression error of the line
$\overrightarrow{\theta }$	Director vector for the line
$np$	Number of laser points of and object
$\mathcal{C}$	Set of extracted corners in an object
$\rho$	Corner’s orientation
$\gamma$	Corner’s aperture
$\mathit{P}$	Perimeter
$\mathit{A}$	Area
$Tg$	Tracked Dynamic Target
$\mathbf{Z}$	Dynamic observations
${\mathcal{M}}_t$	Set of dynamic detections at time t
$\mathbf{x}$	Tracked Targets
$\mathcal{N}$	Set of Targets tracked at time t
$\mathbf{H}$	Measurement matrix
$\overline{\mathbf{x}}$	Propagation of the target state
$\overline{\mathbf{P}}$	Covariance matrix of the propagated target
$\mathbf{R}$	Covariance matrix of the detection
$\eta$	Target association threshold
${P_i}^t$	Probability of the actual hypothesis
${\beta }_{fal}$	Poisson probability distribution for false alarms
${\beta }_{new}$	Poisson probability distribution for new targets
$N_{fal}$	Number of detections associated with false alarms
$N_{new}$	Number of detections associated with new targets
$P_{det}$	Probability of detection
$N_{det}$	Number of detections associated with existing targets
$N_{TGT}$	Number of the existing targets
${\displaystyle {\mathcal{N}}_{detector}({\mathbf{Z}}_m-\mathbf{H}\overline{\mathbf{x}},\mathbf{B})}$	Gaussian probability distribution of the detections for the detector
$P_{nc}$	Probability distribution for the not confirmed targets
$N_{nc}$	Number of times that the target has a detection associated with it
$P_h$	Probability distribution to hold a dynamic target
$N_{na}$	Number of targets without dynamic detection associated
${\overrightarrow{V}}_{obj}$	Object velocity
${\overrightarrow{V}}_{veh};{\overrightarrow{W}}_{veh}$	Ego vehicle linear/angular velocity
$\overrightarrow{d}$	Distance between ego vehicle and tracked object
$\lambda$	Weight controlling the rise of confirmation probability