Algorithm 1. Matching cascade.
Input: Track indices $\mathcal{T}=\left\{1,\dots ,N\right\}$, detection indices $\mathcal{D}=\left\{1,\dots ,M\right\}$, maximum age $A_{max}$
1:	Compute cost matrix $C=\left[c_{i,j}\right]$ using Equation (1)
2:	Compute gate matrix $B=\left[b_{i,j}\right]$ using Equation (2)
3:	Initialize the set of matches $ℳ\leftarrow \varnothing$
4:	Initialize the set of unmatched detections $\mathcal{U}\leftarrow \mathcal{D}$
5:	for $n\in \left\{1,\dots ,A_{max}\right\}$ do
6:	Select tracks by age ${\mathcal{T}}_n\leftarrow \{i\in \mathcal{T}|a_i=n\}$
7:	$\left[x_{i,j}\right]$ ← min cost matching $C,{\mathcal{T}}_n,\mathcal{U}$
8:	$ℳ\leftarrow ℳ{{\displaystyle \cup }}^{}\left\{\left(i,j\right)|b_{i,j}.x_{i,j}>0\right\}$
9:	$\mathcal{U}\leftarrow \mathcal{U}\setminus \left\{j|{\mathsf{\Sigma }}_i{b}_{i,j}.x_{i,j}>0\right\}$
10:	end for
11:	return $ℳ,\mathcal{U}$