Algorithm 2 Infinite mixture model for measurement-to-object association

Input: $\{{\mathbf{z}}_{1,k},\dots ,{\mathbf{z}}_{M_k,k}\}$, measurements

From construction of prior distribution from Algorithm 1

Input: Object state vectors $\{{\mathbf{x}}_{1,k},{\mathbf{x}}_{2,k},\dots \}$

Input: Cluster parameter vectors $\{{\mathit{\theta }}_{1,k},{\mathit{\theta }}_{2,k},\dots \}$

Input: Cluster label indicators

At time k:

for m = 1 $M_k$ do

Draw ${\mathbf{z}}_{m,k}\mid {\mathbf{x}}_{\ell ,k},{\psi }_{m,k}$ from Equation (13)

return ${\mathcal{C}}_{D_k,k}$, induced cluster assignment indicators

end for

return $D_k$ (number of clusters) and $\mathcal{C}{\mathcal{A}}_k$

return posterior of ${\mathbf{z}}_{m,k}\mid {\mathbf{x}}_{\ell ,k},{\mathit{\theta }}_{\ell ,k}$, m = $1,\dots ,M_k$