TABLE 1.

The configuration parameters used in our method for evaluating the hypothesis tree.

Param	Value	Descr
N max	200	max. # hypotheses
N sim	2	similar associations before prune
γ *	3	max. consecutive not-on-map assoc
σ e	1	error covariance
p (*)	0.1	probability not-on-map assoc
δ o , δ n , δ c , δ p	0.5	error tolerance before prune
α c	0.5	error angle tolerance before prune