The pedestrian PMHT

For some years, we and other researchers have sought either to improve the PMHT, to increase its elegance or to show its superiority in terms of lost tracks. While all of these are important, it must be admitted that the PMHT is unlikely to gain much practical acceptance until a number of practical "pedestrian" issues are addressed. There was considerable progress in Luginbuhl, Sun and Willett, (2001), in which a track-management system (track-initiation, -termination and -merging) was proposed. Here we continue in that vein: how does the PMHT deal with nonlinear models, with consistency checks and with out-of-sequence measurements?.