Scoring algorithms for track-to-track fusion problems

The authors extend some earlier track fusion algorithms to embed within them them an appropriate track scoring algorithm that accounts for track revisits or updates to the fusion node. The scoring approach considered tracks both fusion scores and singleton scores. Using the results in Belkin et al. (1993), the authors are able to obtain a computable singleton score that does not exhibit numerical instabilities. The concept of relative scoring is a key ingredient in this derivation (the ability to isolate measurement quantities outside of the scoring technique). The authors then illustrate the approach in a few test cases.