Algorithm 1 Proposed LTGP method for T2TASB

Require:

Local tracks ${\mathbf{X}}_k^1$ and ${\mathbf{X}}_k^2$, parameters w, $\alpha$, $\beta$, $\gamma$, M.

1:Initialize ${\mathbf{W}}_k=0$, ${\mathbf{R}}_k={\mathbf{I}}_{N_k^1\times N_k^2}$. 2:Search for the M nearest neighbors for each local track in ${\mathbf{X}}_k^2$. 3:Find $\mathbf{L}$ by minimizing (10). 4:while not converged do 5:E-step: 6:   1. Assign membership probability ${\pi }_{t,l}^k$ using (8) or (9). 7:   2. Update $q\left(z_{t,l}^k\right)$ using (13). 8:M-step: 9:   1. Update ${\sigma }_k^2$ based on (16). 10:   2. Update ${\mathbf{W}}_k$ by solving the linear system in (18). 11:end while

Ensure:

Transformed local track from sensor 2 is $f\left({\mathbf{X}}_k^2\right)={\mathbf{X}}_k^2+{\mathbf{G}}_k{\mathbf{W}}_k$.

Association matrix for T2TASB is ${\mathbf{C}}^k(t,l)$ as in (3.2).