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. 2019 Dec 20;20(1):56. doi: 10.3390/s20010056
Algorithm 1 Regional Collision Association
1: if|Xi.xXj.x|>KGL·sqrt(Pi[0][0])+KGL·sqrt(Pj[0][0])then
2: return false
3: else if|Xi.yXj.y|>KGW·sqrt(Pi[3][3])+KGW·sqrt(Pj[3][3])then
4: return false
5: return true